mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-15 04:15:44 +03:00
116 lines
4.3 KiB
C
116 lines
4.3 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Cleanflight is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stddef.h>
|
|
#include <stdint.h>
|
|
|
|
#define NOOP do {} while (0)
|
|
|
|
#define ARRAYLEN(x) (sizeof(x) / sizeof((x)[0]))
|
|
#define ARRAYEND(x) (&(x)[ARRAYLEN(x)])
|
|
|
|
#define CONST_CAST(type, value) ((type)(value))
|
|
|
|
#define CONCAT_HELPER(x,y) x ## y
|
|
#define CONCAT(x,y) CONCAT_HELPER(x, y)
|
|
#define CONCAT2(_1,_2) CONCAT(_1, _2)
|
|
#define CONCAT3(_1,_2,_3) CONCAT(CONCAT(_1, _2), _3)
|
|
#define CONCAT4(_1,_2,_3,_4) CONCAT(CONCAT3(_1, _2, _3), _4)
|
|
|
|
#define STR_HELPER(x) #x
|
|
#define STR(x) STR_HELPER(x)
|
|
|
|
#define EXPAND_I(x) x
|
|
#define EXPAND(x) EXPAND_I(x)
|
|
|
|
// expand to t if bit is 1, f when bit is 0. Other bit values are not supported
|
|
#define PP_IIF(bit, t, f) PP_IIF_I(bit, t, f)
|
|
#define PP_IIF_I(bit, t, f) PP_IIF_ ## bit(t, f)
|
|
#define PP_IIF_0(t, f) f
|
|
#define PP_IIF_1(t, f) t
|
|
|
|
// Expand all argumens and call macro with them. When expansion of some argument contains ',', it will be passed as multiple arguments
|
|
// #define TAKE3(_1,_2,_3) CONCAT3(_1,_2,_3)
|
|
// #define MULTI2 A,B
|
|
// PP_CALL(TAKE3, MULTI2, C) expands to ABC
|
|
#define PP_CALL(macro, ...) macro(__VA_ARGS__)
|
|
|
|
#if !defined(UNUSED)
|
|
#define UNUSED(x) (void)(x)
|
|
#endif
|
|
#define BUILD_BUG_ON(condition) ((void)sizeof(char[1 - 2*!!(condition)]))
|
|
#define STATIC_ASSERT(condition, name) \
|
|
typedef char assert_failed_ ## name [(condition) ? 1 : -1 ] __attribute__((unused))
|
|
|
|
|
|
#define BIT(x) (1 << (x))
|
|
|
|
/*
|
|
http://resnet.uoregon.edu/~gurney_j/jmpc/bitwise.html
|
|
*/
|
|
#define BITCOUNT(x) (((BX_(x)+(BX_(x)>>4)) & 0x0F0F0F0F) % 255)
|
|
#define BX_(x) ((x) - (((x)>>1)&0x77777777) - (((x)>>2)&0x33333333) - (((x)>>3)&0x11111111))
|
|
|
|
|
|
/*
|
|
* https://groups.google.com/forum/?hl=en#!msg/comp.lang.c/attFnqwhvGk/sGBKXvIkY3AJ
|
|
* Return (v ? floor(log2(v)) : 0) when 0 <= v < 1<<[8, 16, 32, 64].
|
|
* Inefficient algorithm, intended for compile-time constants.
|
|
*/
|
|
#define LOG2_8BIT(v) (8 - 90/(((v)/4+14)|1) - 2/((v)/2+1))
|
|
#define LOG2_16BIT(v) (8*((v)>255) + LOG2_8BIT((v) >>8*((v)>255)))
|
|
#define LOG2_32BIT(v) (16*((v)>65535L) + LOG2_16BIT((v)*1L >>16*((v)>65535L)))
|
|
#define LOG2_64BIT(v) \
|
|
(32*((v)/2L>>31 > 0) \
|
|
+ LOG2_32BIT((v)*1L >>16*((v)/2L>>31 > 0) \
|
|
>>16*((v)/2L>>31 > 0)))
|
|
#define LOG2(v) LOG2_64BIT(v)
|
|
|
|
#if 0
|
|
// ISO C version, but no type checking
|
|
#define container_of(ptr, type, member) \
|
|
((type *) ((char *)(ptr) - offsetof(type, member)))
|
|
#else
|
|
// non ISO variant from linux kernel; checks ptr type, but triggers 'ISO C forbids braced-groups within expressions [-Wpedantic]'
|
|
// __extension__ is here to disable this warning
|
|
#define container_of(ptr, type, member) ( __extension__ ({ \
|
|
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
|
|
(type *)( (char *)__mptr - offsetof(type,member) );}))
|
|
|
|
static inline int16_t cmp16(uint16_t a, uint16_t b) { return (int16_t)(a-b); }
|
|
static inline int32_t cmp32(uint32_t a, uint32_t b) { return (int32_t)(a-b); }
|
|
|
|
// using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
|
|
// than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
|
|
#if defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
|
|
// Call memcpy when building unittest - this is easier that asm symbol name mangling (symbols start with _underscore on win32)
|
|
#include <string.h>
|
|
static inline void memcpy_fn ( void * destination, const void * source, size_t num ) { memcpy(destination, source, num); }
|
|
#else
|
|
void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("memcpy");
|
|
#endif
|
|
|
|
|
|
#endif
|
|
|
|
#if __GNUC__ > 6
|
|
#define FALLTHROUGH __attribute__ ((fallthrough))
|
|
#else
|
|
#define FALLTHROUGH do {} while(0)
|
|
#endif
|