mirror of
https://github.com/iNavFlight/inav.git
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117 lines
4.2 KiB
C
117 lines
4.2 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stddef.h>
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#include <stdint.h>
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#define ARRAYLEN(x) (sizeof(x) / sizeof((x)[0]))
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#define ARRAYEND(x) (&(x)[ARRAYLEN(x)])
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#define CONST_CAST(type, value) ((type)(value))
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#define CONCAT_HELPER(x,y) x ## y
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#define CONCAT(x,y) CONCAT_HELPER(x, y)
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#define CONCAT3_HELPER(x, y, z) x ## y ## z
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#define CONCAT3(x, y, z) CONCAT3_HELPER(x, y, z)
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#define CONCAT4_HELPER(x, y, z, w) x ## y ## z ## w
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#define CONCAT4(x, y, z, w) CONCAT4_HELPER(x, y, z, w)
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#define STR_HELPER(x) #x
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#define STR(x) STR_HELPER(x)
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#define EXPAND_I(x) x
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#define EXPAND(x) EXPAND_I(x)
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// Expand all argumens and call macro with them. When expansion of some argument contains ',', it will be passed as multiple arguments
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// #define TAKE3(_1,_2,_3) CONCAT3(_1,_2,_3)
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// #define MULTI2 A,B
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// PP_CALL(TAKE3, MULTI2, C) expands to ABC
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#define PP_CALL(macro, ...) macro(__VA_ARGS__)
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#if !defined(UNUSED)
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#define UNUSED(x) (void)(x)
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#endif
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#define BUILD_BUG_ON(condition) ((void)sizeof(char[1 - 2*!!(condition)]))
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#define BIT(x) (1 << (x))
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#define GET_BIT(value, bit) ((value >> bit) & 1)
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#define STATIC_ASSERT(condition, name) \
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typedef char assert_failed_ ## name [(condition) ? 1 : -1 ] __attribute__((unused))
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/*
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http://resnet.uoregon.edu/~gurney_j/jmpc/bitwise.html
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*/
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#define BITCOUNT(x) (((BX_(x)+(BX_(x)>>4)) & 0x0F0F0F0F) % 255)
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#define BX_(x) ((x) - (((x)>>1)&0x77777777) - (((x)>>2)&0x33333333) - (((x)>>3)&0x11111111))
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/*
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* https://groups.google.com/forum/?hl=en#!msg/comp.lang.c/attFnqwhvGk/sGBKXvIkY3AJ
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* Return (v ? floor(log2(v)) : 0) when 0 <= v < 1<<[8, 16, 32, 64].
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* Inefficient algorithm, intended for compile-time constants.
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*/
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#define LOG2_8BIT(v) (8 - 90/(((v)/4+14)|1) - 2/((v)/2+1))
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#define LOG2_16BIT(v) (8*((v)>255) + LOG2_8BIT((v) >>8*((v)>255)))
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#define LOG2_32BIT(v) (16*((v)>65535L) + LOG2_16BIT((v)*1L >>16*((v)>65535L)))
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#define LOG2_64BIT(v) \
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(32*((v)/2L>>31 > 0) \
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+ LOG2_32BIT((v)*1L >>16*((v)/2L>>31 > 0) \
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>>16*((v)/2L>>31 > 0)))
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#if 0
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// ISO C version, but no type checking
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#define container_of(ptr, type, member) \
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((type *) ((char *)(ptr) - offsetof(type, member)))
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#else
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// non ISO variant from linux kernel; checks ptr type, but triggers 'ISO C forbids braced-groups within expressions [-Wpedantic]'
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// __extension__ is here to disable this warning
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#define container_of(ptr, type, member) ( __extension__ ({ \
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const typeof( ((type *)0)->member ) *__mptr = (ptr); \
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(type *)( (char *)__mptr - offsetof(type,member) );}))
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static inline int16_t cmp16(uint16_t a, uint16_t b) { return a-b; }
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static inline int32_t cmp32(uint32_t a, uint32_t b) { return a-b; }
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// using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
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// than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
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#ifdef UNIT_TEST
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// Call memcpy when building unittest - this is easier that asm symbol name mangling (symbols start with _underscore on win32)
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#include <string.h>
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static inline void memcpy_fn ( void * destination, const void * source, size_t num ) { memcpy(destination, source, num); };
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#else
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void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("memcpy");
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#endif
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#endif
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#if __GNUC__ > 6
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#define FALLTHROUGH __attribute__ ((fallthrough))
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#else
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#define FALLTHROUGH do {} while(0)
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#endif
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#define UNREACHABLE() __builtin_unreachable()
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#define ALIGNED(x) __attribute__ ((aligned(x)))
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#define PACKED __attribute__((packed))
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