You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
2.4 KiB
72 lines
2.4 KiB
/**************************************************************************** |
|
* |
|
* Copyright (c) 2013 Estimation and Control Library (ECL). 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. |
|
* 3. Neither the name APL nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 |
|
* COPYRIGHT OWNER 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. |
|
* |
|
****************************************************************************/ |
|
|
|
/** |
|
* @file ecl.h |
|
* Adapter / shim layer for system calls needed by ECL |
|
* |
|
*/ |
|
#pragma once |
|
|
|
#if defined(__PX4_POSIX) || defined(__PX4_NUTTX) |
|
|
|
#include <drivers/drv_hrt.h> |
|
#include <px4_log.h> |
|
|
|
#define ecl_absolute_time hrt_absolute_time |
|
#define ecl_elapsed_time hrt_elapsed_time |
|
#define ECL_INFO PX4_INFO |
|
#define ECL_WARN PX4_WARN |
|
#define ECL_ERR PX4_ERR |
|
|
|
#else |
|
|
|
#define ECL_INFO printf |
|
#define ECL_WARN printf |
|
#define ECL_ERR printf |
|
|
|
#endif |
|
|
|
#ifndef __PX4_QURT |
|
#if defined(__cplusplus) && !defined(__PX4_NUTTX) |
|
#include <cmath> |
|
#define ISFINITE(x) std::isfinite(x) |
|
#else |
|
#define ISFINITE(x) isfinite(x) |
|
#endif |
|
#endif |
|
|
|
#if defined(__PX4_QURT) |
|
// Missing math.h defines |
|
#define ISFINITE(x) __builtin_isfinite(x) |
|
#endif
|
|
|