YUFEI JIANG / Mbed 2 deprecated CSSE4011_BLE_IMU

CSSE4011_BLE_IMU IMU Seeed Tiny Ble

Dependencies:   BLE_API_Tiny_BLE MPU6050-DMP-Seeed-Tiny-BLE mbed

nRF51822/common/common.h@2:44bc61abdf33, 2015-06-10 (annotated)

Committer:
flywind
Date:
Wed Jun 10 12:56:48 2015 +0000
Revision:
2:44bc61abdf33
Parent:
0:f90c3452d779 
milestone working one , yaw pitch roll update in BLE sucessfull

Who changed what in which revision?

UserRevisionLine numberNew contents of line
flywind 0:f90c3452d779 1 /**************************************************************************/
flywind 0:f90c3452d779 2 /*!
flywind 0:f90c3452d779 3 @file common.h
flywind 0:f90c3452d779 4 @author hathach (tinyusb.org)
flywind 0:f90c3452d779 5
flywind 0:f90c3452d779 6 @section LICENSE
flywind 0:f90c3452d779 7
flywind 0:f90c3452d779 8 Software License Agreement (BSD License)
flywind 0:f90c3452d779 9
flywind 0:f90c3452d779 10 Copyright (c) 2013, K. Townsend (microBuilder.eu)
flywind 0:f90c3452d779 11 All rights reserved.
flywind 0:f90c3452d779 12
flywind 0:f90c3452d779 13 Redistribution and use in source and binary forms, with or without
flywind 0:f90c3452d779 14 modification, are permitted provided that the following conditions are met:
flywind 0:f90c3452d779 15 1. Redistributions of source code must retain the above copyright
flywind 0:f90c3452d779 16 notice, this list of conditions and the following disclaimer.
flywind 0:f90c3452d779 17 2. Redistributions in binary form must reproduce the above copyright
flywind 0:f90c3452d779 18 notice, this list of conditions and the following disclaimer in the
flywind 0:f90c3452d779 19 documentation and/or other materials provided with the distribution.
flywind 0:f90c3452d779 20 3. Neither the name of the copyright holders nor the
flywind 0:f90c3452d779 21 names of its contributors may be used to endorse or promote products
flywind 0:f90c3452d779 22 derived from this software without specific prior written permission.
flywind 0:f90c3452d779 23
flywind 0:f90c3452d779 24 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
flywind 0:f90c3452d779 25 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
flywind 0:f90c3452d779 26 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
flywind 0:f90c3452d779 27 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
flywind 0:f90c3452d779 28 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
flywind 0:f90c3452d779 29 INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
flywind 0:f90c3452d779 30 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION HOWEVER CAUSED AND
flywind 0:f90c3452d779 31 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
flywind 0:f90c3452d779 32 INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS
flywind 0:f90c3452d779 33 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
flywind 0:f90c3452d779 34 */
flywind 0:f90c3452d779 35 /**************************************************************************/
flywind 0:f90c3452d779 36
flywind 0:f90c3452d779 37 /** \defgroup Group_Common Common Files
flywind 0:f90c3452d779 38 * @{
flywind 0:f90c3452d779 39 *
flywind 0:f90c3452d779 40 * \defgroup Group_CommonH common.h
flywind 0:f90c3452d779 41 *
flywind 0:f90c3452d779 42 * @{
flywind 0:f90c3452d779 43 */
flywind 0:f90c3452d779 44
flywind 0:f90c3452d779 45 #ifndef _COMMON_H_
flywind 0:f90c3452d779 46 #define _COMMON_H_
flywind 0:f90c3452d779 47
flywind 0:f90c3452d779 48 #ifdef __cplusplus
flywind 0:f90c3452d779 49 extern "C" {
flywind 0:f90c3452d779 50 #endif
flywind 0:f90c3452d779 51
flywind 0:f90c3452d779 52 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 53 // INCLUDES
flywind 0:f90c3452d779 54 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 55
flywind 0:f90c3452d779 56 //------------- Standard Header -------------//
flywind 0:f90c3452d779 57 #include <stdint.h>
flywind 0:f90c3452d779 58 #include <stdbool.h>
flywind 0:f90c3452d779 59 #include <stddef.h>
flywind 0:f90c3452d779 60 #include <string.h>
flywind 0:f90c3452d779 61 #include <stdio.h>
flywind 0:f90c3452d779 62
flywind 0:f90c3452d779 63 //------------- General Header -------------//
flywind 0:f90c3452d779 64 #include "projectconfig.h"
flywind 0:f90c3452d779 65 #include "compiler.h"
flywind 0:f90c3452d779 66 #include "assertion.h"
flywind 0:f90c3452d779 67 #include "binary.h"
flywind 0:f90c3452d779 68 #include "ble_error.h"
flywind 0:f90c3452d779 69
flywind 0:f90c3452d779 70 //------------- MCU header -------------//
flywind 0:f90c3452d779 71 //#include "nrf.h"
flywind 0:f90c3452d779 72
flywind 0:f90c3452d779 73 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 74 // TYPEDEFS
flywind 0:f90c3452d779 75 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 76 typedef unsigned char byte_t;
flywind 0:f90c3452d779 77 typedef float float32_t;
flywind 0:f90c3452d779 78 typedef double float64_t;
flywind 0:f90c3452d779 79
flywind 0:f90c3452d779 80 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 81 // MACROS
flywind 0:f90c3452d779 82 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 83 #define STRING_(x) #x // stringify without expand
flywind 0:f90c3452d779 84 #define XSTRING_(x) STRING_(x) // expand then stringify
flywind 0:f90c3452d779 85 #define STRING_CONCAT_(a, b) a##b // concat without expand
flywind 0:f90c3452d779 86 #define XSTRING_CONCAT_(a, b) STRING_CONCAT_(a, b) // expand then concat
flywind 0:f90c3452d779 87
flywind 0:f90c3452d779 88 #define U16_HIGH_U8(u16) ((uint8_t) (((u16) >> 8) & 0x00ff))
flywind 0:f90c3452d779 89 #define U16_LOW_U8(u16) ((uint8_t) ((u16) & 0x00ff))
flywind 0:f90c3452d779 90 #define U16_TO_U8S_BE(u16) U16_HIGH_U8(u16), U16_LOW_U8(u16)
flywind 0:f90c3452d779 91 #define U16_TO_U8S_LE(u16) U16_LOW_U8(u16), U16_HIGH_U8(u16)
flywind 0:f90c3452d779 92
flywind 0:f90c3452d779 93 #define U32_B1_U8(u32) ((uint8_t) (((u32) >> 24) & 0x000000ff)) // MSB
flywind 0:f90c3452d779 94 #define U32_B2_U8(u32) ((uint8_t) (((u32) >> 16) & 0x000000ff))
flywind 0:f90c3452d779 95 #define U32_B3_U8(u32) ((uint8_t) (((u32) >> 8) & 0x000000ff))
flywind 0:f90c3452d779 96 #define U32_B4_U8(u32) ((uint8_t) ((u32) & 0x000000ff)) // LSB
flywind 0:f90c3452d779 97
flywind 0:f90c3452d779 98 #define U32_TO_U8S_BE(u32) U32_B1_U8(u32), U32_B2_U8(u32), U32_B3_U8(u32), U32_B4_U8(u32)
flywind 0:f90c3452d779 99 #define U32_TO_U8S_LE(u32) U32_B4_U8(u32), U32_B3_U8(u32), U32_B2_U8(u32), U32_B1_U8(u32)
flywind 0:f90c3452d779 100
flywind 0:f90c3452d779 101 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 102 // INLINE FUNCTION
flywind 0:f90c3452d779 103 //--------------------------------------------------------------------+
flywind 0:f90c3452d779 104 #define memclr_(buffer, size) memset(buffer, 0, size)
flywind 0:f90c3452d779 105
flywind 0:f90c3452d779 106 //------------- Conversion -------------//
flywind 0:f90c3452d779 107 /// form an uint32_t from 4 x uint8_t
flywind 0:f90c3452d779 108 static inline uint32_t u32_from_u8(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 109 static inline uint32_t u32_from_u8(uint8_t b1, uint8_t b2, uint8_t b3, uint8_t b4)
flywind 0:f90c3452d779 110 {
flywind 0:f90c3452d779 111 return (b1 << 24) + (b2 << 16) + (b3 << 8) + b4;
flywind 0:f90c3452d779 112 }
flywind 0:f90c3452d779 113
flywind 0:f90c3452d779 114 static inline uint8_t u16_high_u8(uint16_t u16) ATTR_CONST ATTR_ALWAYS_INLINE;
flywind 0:f90c3452d779 115 static inline uint8_t u16_high_u8(uint16_t u16)
flywind 0:f90c3452d779 116 {
flywind 0:f90c3452d779 117 return (uint8_t) ((u16 >> 8) & 0x00ff);
flywind 0:f90c3452d779 118 }
flywind 0:f90c3452d779 119
flywind 0:f90c3452d779 120 static inline uint8_t u16_low_u8(uint16_t u16) ATTR_CONST ATTR_ALWAYS_INLINE;
flywind 0:f90c3452d779 121 static inline uint8_t u16_low_u8(uint16_t u16)
flywind 0:f90c3452d779 122 {
flywind 0:f90c3452d779 123 return (uint8_t) (u16 & 0x00ff);
flywind 0:f90c3452d779 124 }
flywind 0:f90c3452d779 125
flywind 0:f90c3452d779 126 //------------- Min -------------//
flywind 0:f90c3452d779 127 static inline uint8_t min8_of(uint8_t x, uint8_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 128 static inline uint8_t min8_of(uint8_t x, uint8_t y)
flywind 0:f90c3452d779 129 {
flywind 0:f90c3452d779 130 return (x < y) ? x : y;
flywind 0:f90c3452d779 131 }
flywind 0:f90c3452d779 132
flywind 0:f90c3452d779 133 static inline uint16_t min16_of(uint16_t x, uint16_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 134 static inline uint16_t min16_of(uint16_t x, uint16_t y)
flywind 0:f90c3452d779 135 {
flywind 0:f90c3452d779 136 return (x < y) ? x : y;
flywind 0:f90c3452d779 137 }
flywind 0:f90c3452d779 138
flywind 0:f90c3452d779 139 static inline uint32_t min32_of(uint32_t x, uint32_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 140 static inline uint32_t min32_of(uint32_t x, uint32_t y)
flywind 0:f90c3452d779 141 {
flywind 0:f90c3452d779 142 return (x < y) ? x : y;
flywind 0:f90c3452d779 143 }
flywind 0:f90c3452d779 144
flywind 0:f90c3452d779 145 //------------- Max -------------//
flywind 0:f90c3452d779 146 static inline uint32_t max32_of(uint32_t x, uint32_t y) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 147 static inline uint32_t max32_of(uint32_t x, uint32_t y)
flywind 0:f90c3452d779 148 {
flywind 0:f90c3452d779 149 return (x > y) ? x : y;
flywind 0:f90c3452d779 150 }
flywind 0:f90c3452d779 151
flywind 0:f90c3452d779 152 //------------- Align -------------//
flywind 0:f90c3452d779 153 static inline uint32_t align32 (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 154 static inline uint32_t align32 (uint32_t value)
flywind 0:f90c3452d779 155 {
flywind 0:f90c3452d779 156 return (value & 0xFFFFFFE0UL);
flywind 0:f90c3452d779 157 }
flywind 0:f90c3452d779 158
flywind 0:f90c3452d779 159 static inline uint32_t align16 (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 160 static inline uint32_t align16 (uint32_t value)
flywind 0:f90c3452d779 161 {
flywind 0:f90c3452d779 162 return (value & 0xFFFFFFF0UL);
flywind 0:f90c3452d779 163 }
flywind 0:f90c3452d779 164
flywind 0:f90c3452d779 165 static inline uint32_t align_n (uint32_t alignment, uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 166 static inline uint32_t align_n (uint32_t alignment, uint32_t value)
flywind 0:f90c3452d779 167 {
flywind 0:f90c3452d779 168 return value & (~(alignment-1));
flywind 0:f90c3452d779 169 }
flywind 0:f90c3452d779 170
flywind 0:f90c3452d779 171 static inline uint32_t align4k (uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 172 static inline uint32_t align4k (uint32_t value)
flywind 0:f90c3452d779 173 {
flywind 0:f90c3452d779 174 return (value & 0xFFFFF000UL);
flywind 0:f90c3452d779 175 }
flywind 0:f90c3452d779 176
flywind 0:f90c3452d779 177 static inline uint32_t offset4k(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 178 static inline uint32_t offset4k(uint32_t value)
flywind 0:f90c3452d779 179 {
flywind 0:f90c3452d779 180 return (value & 0xFFFUL);
flywind 0:f90c3452d779 181 }
flywind 0:f90c3452d779 182
flywind 0:f90c3452d779 183 //------------- Mathematics -------------//
flywind 0:f90c3452d779 184 /// inclusive range checking
flywind 0:f90c3452d779 185 static inline bool is_in_range(uint32_t lower, uint32_t value, uint32_t upper) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 186 static inline bool is_in_range(uint32_t lower, uint32_t value, uint32_t upper)
flywind 0:f90c3452d779 187 {
flywind 0:f90c3452d779 188 return (lower <= value) && (value <= upper);
flywind 0:f90c3452d779 189 }
flywind 0:f90c3452d779 190
flywind 0:f90c3452d779 191 /// exclusive range checking
flywind 0:f90c3452d779 192 static inline bool is_in_range_exclusive(uint32_t lower, uint32_t value, uint32_t upper) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 193 static inline bool is_in_range_exclusive(uint32_t lower, uint32_t value, uint32_t upper)
flywind 0:f90c3452d779 194 {
flywind 0:f90c3452d779 195 return (lower < value) && (value < upper);
flywind 0:f90c3452d779 196 }
flywind 0:f90c3452d779 197
flywind 0:f90c3452d779 198 static inline uint8_t log2_of(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 199 static inline uint8_t log2_of(uint32_t value)
flywind 0:f90c3452d779 200 {
flywind 0:f90c3452d779 201 uint8_t result = 0; // log2 of a value is its MSB's position
flywind 0:f90c3452d779 202
flywind 0:f90c3452d779 203 while (value >>= 1)
flywind 0:f90c3452d779 204 {
flywind 0:f90c3452d779 205 result++;
flywind 0:f90c3452d779 206 }
flywind 0:f90c3452d779 207 return result;
flywind 0:f90c3452d779 208 }
flywind 0:f90c3452d779 209
flywind 0:f90c3452d779 210 // return the number of set bits in value
flywind 0:f90c3452d779 211 static inline uint8_t cardinality_of(uint32_t value) ATTR_ALWAYS_INLINE ATTR_CONST;
flywind 0:f90c3452d779 212 static inline uint8_t cardinality_of(uint32_t value)
flywind 0:f90c3452d779 213 {
flywind 0:f90c3452d779 214 // Brian Kernighan's method goes through as many iterations as there are set bits. So if we have a 32-bit word with only
flywind 0:f90c3452d779 215 // the high bit set, then it will only go once through the loop
flywind 0:f90c3452d779 216 // Published in 1988, the C Programming Language 2nd Ed. (by Brian W. Kernighan and Dennis M. Ritchie)
flywind 0:f90c3452d779 217 // mentions this in exercise 2-9. On April 19, 2006 Don Knuth pointed out to me that this method
flywind 0:f90c3452d779 218 // "was first published by Peter Wegner in CACM 3 (1960), 322. (Also discovered independently by Derrick Lehmer and
flywind 0:f90c3452d779 219 // published in 1964 in a book edited by Beckenbach.)"
flywind 0:f90c3452d779 220 uint8_t count;
flywind 0:f90c3452d779 221 for (count = 0; value; count++)
flywind 0:f90c3452d779 222 {
flywind 0:f90c3452d779 223 value &= value - 1; // clear the least significant bit set
flywind 0:f90c3452d779 224 }
flywind 0:f90c3452d779 225
flywind 0:f90c3452d779 226 return count;
flywind 0:f90c3452d779 227 }
flywind 0:f90c3452d779 228
flywind 0:f90c3452d779 229 #ifdef __cplusplus
flywind 0:f90c3452d779 230 }
flywind 0:f90c3452d779 231 #endif
flywind 0:f90c3452d779 232
flywind 0:f90c3452d779 233 #endif /* _COMMON_H_ */
flywind 0:f90c3452d779 234
flywind 0:f90c3452d779 235 /** @} */
flywind 0:f90c3452d779 236 /** @} */