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Merge commit '4f3b17f53b120cd54112097f4217a90863013c1f' into local/mathlib

This commit is contained in:
px4dev 2013-01-06 12:57:28 -08:00
parent e0cf9f943a 4f3b17f53b
commit 95aa959571
6 changed files with 186 additions and 12 deletions
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6
apps/mk/app.mk
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@ -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),)

30
apps/systemlib/Makefile
View File

@ -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

88
apps/systemlib/test/test.cpp Normal file
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@ -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 <stdio.h>
#include <math.h>
#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<abs(exp);i++) sig /= 10;
} else {
for (int i=0;i<abs(exp);i++) sig *= 10;
}
}

50
apps/systemlib/test/test.hpp Normal file
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@ -0,0 +1,50 @@
/****************************************************************************
*
* 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.hpp
*
* Controller library code
*/
#pragma once
#include <assert.h>
#include <time.h>
#include <stdlib.h>
bool equal(float a, float b, float eps = 1e-5);
void float2SigExp(
const float & num,
float & sig,
int & exp);

21
nuttx/configs/px4fmu/common/Make.defs
View File

@ -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

3
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -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