Commit from zer0 on branch b_zer0 (2007-05-31 18:58 CEST)
---------------------------------
oops I forgot this file
+ aversive include/aversive.h 1.1.2.1
---------------------------
aversive/include/aversive.h (1.1.2.1)
---------------------------
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*** 0 ****
--- 1,198 ----
+ /*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2007)
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: aversive.h,v 1.1.2.1 2007-05-31 16:58:50 zer0 Exp $
+ *
+ */
+
+ /**
+ * here are some cute little macros, and other stuff, microcontroller
+ * related !
+ */
+
+
+ #ifndef _AVERSIVE_H_
+ #define _AVERSIVE_H_
+
+ #include <autoconf.h>
+
+ #ifndef HOST_VERSION
+ #include <avr/interrupt.h>
+ #include <avr/io.h>
+ #endif
+
+ #include <aversive/types.h>
+ #include <aversive/errno.h>
+ #include <aversive/irq_lock.h>
+
+
+ #ifndef __AVR_LIBC_VERSION__ /* version.h should be included by avr/io.h */
+ #define __AVR_LIBC_VERSION__ 0UL
+ #endif
+
+ #ifndef HOST_VERSION
+ #if __AVR_LIBC_VERSION__ < 10403UL
+ #include <avr/signal.h>
+ #endif
+ #endif
+
+ #define F_CPU ((unsigned long)CONFIG_QUARTZ)
+
+ #define Hz 1l
+ #define KHz 1000l
+ #define MHz 1000000l
+
+
+
+ /*
+ * a few "mathematical" macros : maximums and minimums
+ */
+
+ /**
+ * signed maxmimum : both signs are tested
+ */
+ #define S_MAX(to_saturate, value_max) \
+ do { \
+ if (to_saturate > value_max) \
+ to_saturate = value_max; \
+ else if (to_saturate < -value_max) \
+ to_saturate = -value_max; \
+ } while(0)
+
+ /**
+ * unsigned maximum : result >0 is forced
+ */
+ #define U_MAX(to_saturate, value_max) \
+ do { \
+ if (to_saturate > value_max) \
+ to_saturate = value_max; \
+ else if (to_saturate < 0) \
+ to_saturate = 0; \
+ } while(0)
+
+ /**
+ * simple maximum
+ */
+ #define MAX(to_saturate, value_max) \
+ do { \
+ if (to_saturate > value_max) \
+ to_saturate = value_max; \
+ } while(0)
+
+ /**
+ * simple minimum
+ */
+ #define MIN(to_saturate, value_min) \
+ do { \
+ if (to_saturate < value_min) \
+ to_saturate = value_min; \
+ } while(0)
+
+
+ /** absolute
+ * while the abs() function in the libc works only with int type
+ * this macro works with every numerical type including floats
+ */
+ #define ABS( val) ( ((val) <0) ? -(val) : (val) )
+
+
+ /* byte extraction, not recommended for use
+ * use only if you need speed optimization !
+ * use ">>" instead for current operations
+ */
+ #define extr16_08_0(i) (*(char *)(&i)) // LSB of a 16bit
+ #define extr16_08_1(i) (*((char *)(&i)+1)) // MSB of a 16bit
+
+ #define extr32_16_0(i) (*(int *)(&i)) // LSB of a 32 bit
+ #define extr32_16_1(i) (* (((int *)(&i)) +1)) // MSB of a 32 bit
+ #define extr32_16_23(i) (*((int *)((char *)(&i)+1))) // middle of a 32 bit
+
+ #define extr32_08_0(i) (*(char *)(&i)) // same stuff
+ #define extr32_08_1(i) (*((char *)(&i)+1))
+ #define extr32_08_2(i) (*((char *)(&i)+2))
+ #define extr32_08_3(i) (*((char *)(&i)+3))
+
+
+ /* a few asm utilities */
+ #ifndef HOST_VERSION
+ #ifndef nop
+ #define nop() __asm__ __volatile__ ("NOP\n") /** nop instruction, 1 CPU cycle
consumed */
+ #endif
+ #ifndef nothing
+ #define nothing() __asm__ __volatile__ (" \n") /** nothing */
+ #endif
+ #ifndef cli
+ #define cli() __asm__ __volatile__ ("CLI\n") /** disable interrupts */
+ #endif
+ #ifndef sei
+ #define sei() __asm__ __volatile__ ("SEI\n") /** enable interrupts */
+ #endif
+ #ifndef reset
+ #define reset() __asm__ __volatile__ ("jmp 0\n") /** simple software reset,
but doesn't initialize the registers */
+ #endif
+
+ #else /* HOST_VERSION */
+ #define nop() do {} while(0)
+ #define nothing() do {} while(0)
+ #define cli() do {} while(0)
+ #define sei() do {} while(0)
+ #endif /* HOST_VERSION */
+
+ /**
+ * little bit toggeling macro
+ *
+ * change pin state
+ * usage :
+ * BIT_TOGGLE(PORTB,2) to make the pin 2 of PORTB toggle
+ */
+ #define BIT_TOGGLE(port,bit) do {\
+ if(bit_is_set(PIN(port),bit)) \
+ cbi(port,bit); \
+ else \
+ sbi(port,bit); \
+ } while(0)
+
+
+ /** booleans */
+ #define FALSE 0
+ #define TRUE 1
+ #define False FALSE
+ #define false FALSE
+ #define True TRUE
+ #define true TRUE
+
+
+ /** DDR and PINS from port adress */
+ #define DDR(port) (*(&(port) -1))
+ #define PIN(port) (*(&(port) -2))
+
+ /** open collector simulation macros */
+ #define OPEN_CO_INIT(port, bit) sbi(port,bit)
+ #define OPEN_CO_HIGH(port, bit) cbi(DDR(port),bit)
+ #define OPEN_CO_LOW(port, bit) cbi(DDR(port),bit)
+
+ /** deprecated macros in libc, but they're almost used, so we implement them
again ;) */
+ #ifndef cbi
+ #define cbi(sfr, bit) ( sfr &= ~ _BV(bit))
+ #endif
+ #ifndef sbi
+ #define sbi(sfr, bit) ( sfr |= _BV(bit))
+ #endif
+
+
+ #endif /* ifndef _AVERSIVE_H_ */
+
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