diff --git a/apps/mk/app.mk b/apps/mk/app.mk index 6c2fff9004..1d8b0e44c1 100644 --- a/apps/mk/app.mk +++ b/apps/mk/app.mk @@ -101,7 +101,9 @@ INCLUDES += $(APPDIR) ASRCS ?= $(wildcard $(SRCDIR)/*.S) CSRCS ?= $(wildcard $(SRCDIR)/*.c) +CHDRS ?= $(wildcard $(SRCDIR)/*.h) CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp) +CXXHDRS ?= $(wildcard $(SRCDIR)/*.hpp) # if APPNAME is not set, this is a library ifeq ($(APPNAME),) @@ -186,8 +188,8 @@ all: .built # depend: .depend .depend: $(MAKEFILE_LIST) $(SRCS) - @$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) >Make.dep - @$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) >>Make.dep + @$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) $(CHDRS) >Make.dep + @$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) $(CXXHDRS) >>Make.dep @touch $@ ifneq ($(APPNAME),) diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile index 5778c552e2..b3e7f6ac9a 100644 --- a/apps/systemlib/Makefile +++ b/apps/systemlib/Makefile @@ -48,14 +48,40 @@ CSRCS = err.c \ # ppm_decode.c \ +CXXSRCS = test/test.cpp \ + math/Vector.cpp \ + math/Vector3.cpp \ + math/EulerAngles.cpp \ + math/Quaternion.cpp \ + math/Dcm.cpp \ + math/Matrix.cpp + +CXXHDRS = test/test.hpp \ + math/Vector.hpp \ + math/Vector3.hpp \ + math/EulerAngles.hpp \ + math/Quaternion.hpp \ + math/Dcm.hpp \ + math/Matrix.hpp # # XXX this really should be a CONFIG_* test # ifeq ($(TARGET),px4fmu) +INCLUDES += math/arm CSRCS += systemlib.c \ - pid/pid.c \ - geo/geo.c + pid/pid.c \ + geo/geo.c +CXXSRCS += math/arm/Vector.cpp \ + math/arm/Matrix.cpp +CXXHDRS += math/arm/Vector.hpp \ + math/arm/Matrix.hpp +else +INCLUDES += math/generic +CXXSRCS += math/generic/Vector.cpp \ + math/generic/Matrix.cpp +CXXHDRS += math/generic/Vector.hpp \ + math/generic/Matrix.hpp endif include $(APPDIR)/mk/app.mk diff --git a/apps/systemlib/test/test.cpp b/apps/systemlib/test/test.cpp new file mode 100644 index 0000000000..aa00e66fae --- /dev/null +++ b/apps/systemlib/test/test.cpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test.cpp + * + * Test library code + */ + +#include +#include + +#include "test.hpp" + +bool __EXPORT equal(float a, float b, float epsilon) +{ + float diff = fabsf(a-b); + if (diff>epsilon) + { + printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b)); + return false; + } + else return true; +} + +void __EXPORT float2SigExp( + const float & num, + float & sig, + int & exp) +{ + if (isnan(num) || isinf(num)) + { + sig = 0.0f; + exp = -99; + return; + } + if (fabsf(num) < 1.0e-38f) + { + sig = 0; + exp = 0; + return; + } + exp = log10f(fabsf(num)); + if (exp>0) { + exp = ceil(exp); + } else { + exp = floor(exp); + } + sig = num; + // cheap power since it is integer + if (exp>0) { + for (int i=0;i +#include +#include + +bool equal(float a, float b, float eps = 1e-5); +void float2SigExp( + const float & num, + float & sig, + int & exp); diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs index ff2e4c5fac..44082f64e3 100644 --- a/nuttx/configs/px4fmu/common/Make.defs +++ b/nuttx/configs/px4fmu/common/Make.defs @@ -55,7 +55,7 @@ NM = $(CROSSDEV)nm OBJCOPY = $(CROSSDEV)objcopy OBJDUMP = $(CROSSDEV)objdump -MAXOPTIMIZATION = -O3 +MAXOPTIMIZATION = -O3 # disable for debugging ARCHCPUFLAGS = -mcpu=cortex-m4 \ -mthumb \ -march=armv7e-m \ @@ -67,6 +67,11 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \ INSTRUMENTATIONDEFINES = -finstrument-functions \ -ffixed-r10 +#CMSIS +CMSIS_INCLUDE = $(TOPDIR)/../CMSIS/Include +CMSIS_LIB = $(TOPDIR)/../CMSIS/Lib/GCC/libarm_cortexM4lf_math.a +EXTRA_LIBS += $(CMSIS_LIB) + # pull in *just* libm from the toolchain ... this is grody LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" EXTRA_LIBS += $(LIBM) @@ -79,8 +84,8 @@ ifeq ($(WINTOOL),y) DIRLINK = $(TOPDIR)/tools/winlink.sh DIRUNLINK = $(TOPDIR)/tools/unlink.sh MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" - ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(CMSIS_INCLUDE)}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" -isystem "${shell cygpath -w $(CMSIS_INCLUDE)}" ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}" else ifeq ($(PX4_WINTOOL),y) @@ -88,14 +93,14 @@ else DIRLINK = $(TOPDIR)/tools/winlink.sh DIRUNLINK = $(TOPDIR)/tools/unlink.sh MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(CMSIS_INCLUDE) + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx -isystem $(CMSIS_INCLUDE) ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) else # Linux/Cygwin-native toolchain MKDEP = $(TOPDIR)/tools/mkdeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(CMSIS_INCLUDE) + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx -isystem $(CMSIS_INCLUDE) ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) endif endif @@ -144,7 +149,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \ -Wnested-externs \ -Wunsuffixed-float-constants ARCHWARNINGSXX = $(ARCHWARNINGS) -ARCHDEFINES = +ARCHDEFINES = -DARM_MATH_CM4 -D__FPU_PRESENT ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 # this seems to be the only way to add linker flags diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index f70586c8f1..afaef32f72 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -68,6 +68,9 @@ CONFIGURED_APPS += systemcmds/delay_test # https://pixhawk.ethz.ch/px4/dev/deamon # CONFIGURED_APPS += examples/px4_deamon_app +# Math library +CONFIGURED_APPS += examples/math_demo + # Shared object broker; required by many parts of the system. CONFIGURED_APPS += uORB