utils.h

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// coding: utf-8
// ----------------------------------------------------------------------------
/*
 * Copyright (c) 2007 Roboterclub Aachen e.V.
 *  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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR 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 REGENTS 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.
 */
// ----------------------------------------------------------------------------
 
#ifndef UTILS_H
#define UTILS_H
 
// ----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
 
#include <avr/io.h>
#include <avr/interrupt.h>
 
#include <util/delay.h>
 
//#include "config.h"
 
// ----------------------------------------------------------------------------
 
#ifndef TRUE
        #define TRUE    (1==1)
#elif !TRUE
        #error  fehlerhafte Definition fuer TRUE
#endif
 
#ifndef FALSE
        #define FALSE   (1!=1)
#elif FALSE
        #error  fehlerhafte Definition fuer FALSE
#endif
 
#ifndef NULL
        #define NULL ((void*)0)         
#endif
 
// ----------------------------------------------------------------------------
 
#define DEGREE_TO_RAD(x)        ((x * M_PI) / 180)
 
// ----------------------------------------------------------------------------
 
#define LOW_BYTE(x)             ((uint8_t) (x & 0xff))
#define HIGH_BYTE(x)    ((uint8_t) (x >> 8))
#define LOW_WORD(x)             ((uint16_t) (x & 0xffff))
#define HIGH_WORD(x)    ((uint16_t) (x >> 16))
 
// ----------------------------------------------------------------------------
typedef struct {
        uint8_t b4;             // lsb
        uint8_t b3;
        uint8_t b2;
        uint8_t b1;             // msb
} long_to_byte_t;
 
// ----------------------------------------------------------------------------
 
#if defined(__DOXYGEN__)
 
#define ENTER_CRITICAL_SECTION
#define LEAVE_CRITICAL_SECTION
 
#else /* !DOXYGEN */
 
#if __AVR_LIBC_VERSION__ >= 10600 && !defined (__cplusplus)
 
        #include <util/atomic.h>
        
        #define ENTER_CRITICAL_SECTION          ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
        #define LEAVE_CRITICAL_SECTION          }
        
        #define IRQ_LOCK                                        ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 
#else
 
        #define ENTER_CRITICAL_SECTION          do { unsigned char sreg_ = SREG; cli();
        #define LEAVE_CRITICAL_SECTION          SREG = sreg_; } while (0);
 
#endif
#endif /* DOXYGEN */
 
// ----------------------------------------------------------------------------
static inline uint8_t read_and_replace_atomar(volatile uint8_t *data, uint8_t new_data)
{
        uint8_t old_data;
        
        ENTER_CRITICAL_SECTION
        
        // Daten tauschen
        old_data = *data;
        *data = new_data;
        
        LEAVE_CRITICAL_SECTION
        
        return old_data;
}
 
// ----------------------------------------------------------------------------
 
#define vu8(x)  (*(volatile  uint8_t*)&(x))
#define vs8(x)  (*(volatile   int8_t*)&(x))
#define vu16(x) (*(volatile uint16_t*)&(x))
#define vs16(x) (*(volatile  int16_t*)&(x))
#define vu32(x) (*(volatile uint32_t*)&(x))
#define vs32(x) (*(volatile  int32_t*)&(x))
 
// ----------------------------------------------------------------------------
#if defined(__DOXYGEN__)
 
#define RESET(x)                
#define SET(x)                  
#define TOGGLE(x)               
 
#define SET_OUTPUT(x)   
#define SET_INPUT(x)    
#define SET_PULLUP(x)   
 
#define SET_INPUT_WITH_PULLUP(x)        
 
#define IS_SET(x)               
 
#else /* !DOXYGEN */
 
/* Warum hier zum Teil so seltsame Konstrukte notwendig sind wird zum Beispiel
 * in http://www.mikrocontroller.net/forum/read-1-324854.html#324980 erklärt.
 */
#define PORT(x)                 _port2(x)
#define DDR(x)                  _ddr2(x)
#define PIN(x)                  _pin2(x)
#define REG(x)                  _reg(x)
#define PIN_NUM(x)              _pin_num(x)
 
#define RESET(x)                RESET2(x)
#define SET(x)                  SET2(x)
#define TOGGLE(x)               TOGGLE2(x)
#define SET_OUTPUT(x)   SET_OUTPUT2(x)
#define SET_INPUT(x)    SET_INPUT2(x)
#define SET_PULLUP(x)   SET2(x)
#define IS_SET(x)               IS_SET2(x)
 
#define SET_INPUT_WITH_PULLUP(x)        SET_INPUT_WITH_PULLUP2(x)
 
#define _port2(x)       PORT ## x
#define _ddr2(x)        DDR ## x
#define _pin2(x)        PIN ## x
 
#define _reg(x,y)               x
#define _pin_num(x,y)   y
 
#define RESET2(x,y)             PORT(x) &= ~(1<<y)
#define SET2(x,y)               PORT(x) |= (1<<y)
#define TOGGLE2(x,y)    PORT(x) ^= (1<<y)
 
#define SET_OUTPUT2(x,y)        DDR(x) |= (1<<y)
#define SET_INPUT2(x,y)         DDR(x) &= ~(1<<y)
#define SET_INPUT_WITH_PULLUP2(x,y)     SET_INPUT2(x,y);SET2(x,y)
 
#define IS_SET2(x,y)    ((PIN(x) & (1<<y)) != 0)
 
#endif /* DOXYGEN */
 
 
// ----------------------------------------------------------------------------
#if defined(__DOXYGEN__)
 
#define _bit_is_set(pin, bit)   
#define _bit_is_clear(pin, bit) 
 
#define STRING(x)               
 
#else /* !DOXYGEN */
 
#define _bit_is_set(pin, bit)   (pin & (1<<bit))
#define _bit_is_clear(pin, bit) (!(pin & (1<<bit)))
 
#define STRING(x)       _STRING(x)
#define _STRING(x)      #x
 
#endif /* DOXYGEN */
 
 
// ----------------------------------------------------------------------------
static inline uint8_t swap (uint8_t x)
{
        if (__builtin_constant_p(x))
                x = (x << 4) | (x >> 4);
        else
                asm volatile ("swap %0" : "=r" (x) : "0" (x));
        
        return x;
}
 
// ----------------------------------------------------------------------------
#if defined(DEBUG_LEVEL) && DEBUG_LEVEL
        #include <stdio.h>
        #define DEBUG_PRINT(s, ...)     do { static const char __s[] PROGMEM = (s); \
                                printf_P(__s, ## __VA_ARGS__); } while (0)
#else
        #define DEBUG_PRINT(s, ...)
 
#endif
 
// ----------------------------------------------------------------------------
static inline uint8_t bit_count8(uint8_t n)
{
        n = ((n >> 1) & 0x55) + (n & 0x55);
        n = ((n >> 2) & 0x33) + (n & 0x33);
        n = ((n >> 4) + n) & 0xf;
        
        return n;
}
 
#define MASK_01010101 (((uint32_t)(-1))/3)
#define MASK_00110011 (((uint32_t)(-1))/5)
#define MASK_00001111 (((uint32_t)(-1))/17)
 
// ----------------------------------------------------------------------------
static inline uint8_t bit_count32(uint32_t n)
{
        n = (n & MASK_01010101) + ((n >> 1) & MASK_01010101);
        n = (n & MASK_00110011) + ((n >> 2) & MASK_00110011);
        n = (n & MASK_00001111) + ((n >> 4) & MASK_00001111);
        
        return n % 255 ;
}
 
 
#define START_TIMED_BLOCK(time, gettime) \
        do { \
                static uint16_t last_time__; \
                uint16_t current_time__ = gettime; \
                if ((uint16_t) (current_time__ - last_time__) > time) { \
                        last_time__ = current_time__;
 
#define END_TIMED_BLOCK \
                } \
        } while (0); 
 
// ----------------------------------------------------------------------------
#define TO_DEG(x)               (x * 180.0 / M_PI)
#define TO_RAD(x)               (x * M_PI / 180.0)
 
#define USE_IT(x)       (void) x
 
#endif  // UTILS_H