Commit from zer0 on branch b_zer0 (2007-08-20 21:08 CEST)
---------------------------------
Replace macros by static inline.
aversive
modules/devices/control_system/control_system_manager/control_system_manager.c
1.7.4.2
aversive modules/devices/robot/robot_system/robot_system.c
1.6.4.4
---------------------------------------------------------------------------------------
aversive/modules/devices/control_system/control_system_manager/control_system_manager.c
(1.7.4.1 -> 1.7.4.2)
---------------------------------------------------------------------------------------
***************
*** 15,21 ****
* 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: control_system_manager.c,v 1.7.4.1 2006-11-26 21:06:03
zer0 Exp $
*
*/
#include <stdio.h>
--- 15,21 ----
* 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: control_system_manager.c,v 1.7.4.2 2007-08-20 19:08:31
zer0 Exp $
*
*/
#include <stdio.h>
***************
*** 36,55 ****
* - if pointer is null, return the IN value
* - else apply filter
*/
! #define SAFE_FILTER( f, param, value ) ({ \
! int32_t (*__f)(void *, int32_t); \
! int32_t __tmp = value; \
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags); \
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __tmp = __f(__param, value); \
! } \
! __tmp; \
! })
/** Call a processout() pointer :
* - lock the interrupts
--- 36,56 ----
* - if pointer is null, return the IN value
* - else apply filter
*/
! static inline uint32_t
! safe_filter(int32_t (*f)(void *, int32_t), void * param, int32_t value)
! {
! int32_t (*f_tmp)(void *, int32_t);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! return f_tmp(param_tmp, value);
! }
! return value;
! }
/** Call a processout() pointer :
* - lock the interrupts
***************
*** 58,77 ****
* - if pointer is null, return 0
* - else return the value processed by the function
*/
! #define SAFE_GETPROCESSOUT( f, param ) ({ \
! int32_t (*__f)(void *); \
! int32_t __tmp = 0; \
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags); \
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __tmp = __f(__param); \
! } \
! __tmp; \
! })
/** Call a processin() pointer :
* - lock the interrupts
--- 59,79 ----
* - if pointer is null, return 0
* - else return the value processed by the function
*/
! static inline uint32_t
! safe_getprocessout(int32_t (*f)(void *), void * param)
! {
! int32_t (*f_tmp)(void *);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! return f_tmp(param_tmp);
! }
! return 0;
! }
/** Call a processin() pointer :
* - lock the interrupts
***************
*** 80,97 ****
* - if pointer is null, don't do anything
* - else call the processin with the parameters
*/
! #define SAFE_SETPROCESSIN( f, param, value ) do { \
! void (*__f)(void *, int32_t); \
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags); \
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __f(__param, value); \
! } \
! } while(0)
/**********************************************/
--- 82,101 ----
* - if pointer is null, don't do anything
* - else call the processin with the parameters
*/
! static inline void
! safe_setprocessin(void (*f)(void *, int32_t), void * param, int32_t value)
! {
! void (*f_tmp)(void *, int32_t);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! f_tmp(param_tmp, value);
! }
! }
/**********************************************/
***************
*** 189,205 ****
debug_printf("%d %ld ", i++, consign);
/* if the consign filter exist */
! cs->filtered_consign_value = consign = SAFE_FILTER(cs->consign_filter,
cs->consign_filter_params, consign);
debug_printf("%ld ", cs->filtered_consign_value);
/* read the process out if defined */
! process_out_value = SAFE_GETPROCESSOUT(cs->process_out,
cs->process_out_params);
debug_printf("%ld ", process_out_value);
/* apply the feedback filter if defined */
! process_out_value = SAFE_FILTER(cs->feedback_filter,
cs->feedback_filter_params, process_out_value);
debug_printf("%ld ", process_out_value);
--- 193,209 ----
debug_printf("%d %ld ", i++, consign);
/* if the consign filter exist */
! cs->filtered_consign_value = consign = safe_filter(cs->consign_filter,
cs->consign_filter_params, consign);
debug_printf("%ld ", cs->filtered_consign_value);
/* read the process out if defined */
! process_out_value = safe_getprocessout(cs->process_out,
cs->process_out_params);
debug_printf("%ld ", process_out_value);
/* apply the feedback filter if defined */
! process_out_value = safe_filter(cs->feedback_filter,
cs->feedback_filter_params, process_out_value);
debug_printf("%ld ", process_out_value);
***************
*** 209,220 ****
debug_printf("%ld ", cs->error_value);
/* apply the correct filter to error_value and put it into out_value */
! cs->out_value = SAFE_FILTER(cs->correct_filter,
cs->correct_filter_params, cs->error_value);
debug_printf("%ld\n", cs->out_value);
/* send out_value to process in*/
! SAFE_SETPROCESSIN (cs->process_in, cs->process_in_params, cs->out_value);
/* return the out value */
return (cs->out_value);
--- 213,224 ----
debug_printf("%ld ", cs->error_value);
/* apply the correct filter to error_value and put it into out_value */
! cs->out_value = safe_filter(cs->correct_filter,
cs->correct_filter_params, cs->error_value);
debug_printf("%ld\n", cs->out_value);
/* send out_value to process in*/
! safe_setprocessin (cs->process_in, cs->process_in_params, cs->out_value);
/* return the out value */
return (cs->out_value);
----------------------------------------------------------
aversive/modules/devices/robot/robot_system/robot_system.c (1.6.4.3 -> 1.6.4.4)
----------------------------------------------------------
***************
*** 15,21 ****
* 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: robot_system.c,v 1.6.4.3 2007-06-17 21:23:40 zer0 Exp $
*
*/
--- 15,21 ----
* 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: robot_system.c,v 1.6.4.4 2007-08-20 19:08:31 zer0 Exp $
*
*/
***************
*** 45,62 ****
* - if pointer is null, don't do anything
* - else call the pwm with the parameters
*/
! #define SAFE_SETPWM( f, param, value ) do { \
! void (*__f)(void *, int32_t); \
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags); \
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __f(__param, value); \
! } \
! } while(0)
/** Call a encoder() pointer :
* - lock the interrupts
--- 45,64 ----
* - if pointer is null, don't do anything
* - else call the pwm with the parameters
*/
! static inline void
! safe_setpwm(void (*f)(void *, int32_t), void * param, int32_t value)
! {
! void (*f_tmp)(void *, int32_t);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! f_tmp(param_tmp, value);
! }
! }
/** Call a encoder() pointer :
* - lock the interrupts
***************
*** 65,84 ****
* - if pointer is null, return 0
* - else return the value processed by the function
*/
! #define SAFE_GETENCODER( f, param ) ({ \
! int32_t (*__f)(void *); \
! int32_t __tmp = 0; \
! void * __param ; \
! uint8_t __flags; \
! IRQ_LOCK(__flags); \
! __f = f; \
! __param = param; \
! IRQ_UNLOCK(__flags); \
! if ( __f ) { \
! __tmp = __f(__param); \
! } \
! __tmp; \
! })
/** Set the structure to 0 */
void rs_init( struct robot_system * rs)
--- 67,87 ----
* - if pointer is null, return 0
* - else return the value processed by the function
*/
! static inline uint32_t
! safe_getencoder(int32_t (*f)(void *), void * param)
! {
! int32_t (*f_tmp)(void *);
! void * param_tmp;
! uint8_t flags;
! IRQ_LOCK(flags);
! f_tmp = f;
! param_tmp = param;
! IRQ_UNLOCK(flags);
! if (f_tmp) {
! return f_tmp(param_tmp);
! }
! return 0;
! }
/** Set the structure to 0 */
void rs_init( struct robot_system * rs)
***************
*** 222,229 ****
p.angle = angle;
rs_get_wheels_from_polar(&w, &p);
! SAFE_SETPWM(rs->left_pwm, rs->left_pwm_param, w.left);
! SAFE_SETPWM(rs->right_pwm, rs->right_pwm_param, w.right);
}
/**
--- 225,232 ----
p.angle = angle;
rs_get_wheels_from_polar(&w, &p);
! safe_setpwm(rs->left_pwm, rs->left_pwm_param, w.left);
! safe_setpwm(rs->right_pwm, rs->right_pwm_param, w.right);
}
/**
***************
*** 245,252 ****
p.distance = distance;
rs_get_wheels_from_polar(&w, &p);
! SAFE_SETPWM(rs->left_pwm, rs->left_pwm_param, w.left);
! SAFE_SETPWM(rs->right_pwm, rs->right_pwm_param, w.right);
}
/**
--- 248,255 ----
p.distance = distance;
rs_get_wheels_from_polar(&w, &p);
! safe_setpwm(rs->left_pwm, rs->left_pwm_param, w.left);
! safe_setpwm(rs->right_pwm, rs->right_pwm_param, w.right);
}
/**
***************
*** 444,454 ****
double ratio;
/* read encoders */
! wext.left = SAFE_GETENCODER(rs->left_ext_encoder,
rs->left_ext_encoder_param);
! wext.right = SAFE_GETENCODER(rs->right_ext_encoder,
rs->right_ext_encoder_param);
! wmot.left = SAFE_GETENCODER(rs->left_mot_encoder,
rs->left_mot_encoder_param);
! wmot.right = SAFE_GETENCODER(rs->right_mot_encoder,
rs->right_mot_encoder_param);
DEBUG(E_ROBOT_SYSTEM, "ENCODERS : %ld %ld %ld %ld", wmot.left,
wmot.right, wext.left, wext.right);
--- 447,457 ----
double ratio;
/* read encoders */
! wext.left = safe_getencoder(rs->left_ext_encoder,
rs->left_ext_encoder_param);
! wext.right = safe_getencoder(rs->right_ext_encoder,
rs->right_ext_encoder_param);
! wmot.left = safe_getencoder(rs->left_mot_encoder,
rs->left_mot_encoder_param);
! wmot.right = safe_getencoder(rs->right_mot_encoder,
rs->right_mot_encoder_param);
DEBUG(E_ROBOT_SYSTEM, "ENCODERS : %ld %ld %ld %ld", wmot.left,
wmot.right, wext.left, wext.right);
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