Merge James's controllib bits into a separate library module.

Add a top-level mathlib header to avoid having to dig around for specific headers.

8 files changed, 62 insertions, 10 deletions

diff --git a/apps/mathlib/Makefile b/apps/mathlib/Makefile
index 5c4861bbc..fe9b691b3 100644
--- a/apps/mathlib/Makefile
+++ b/apps/mathlib/Makefile
@@ -32,9 +32,8 @@
 ############################################################################
 
 #
-# System math library
+# Math library
 #
-
 CXXSRCS		 = math/test/test.cpp \
 		   math/Vector.cpp \
 		   math/Vector3.cpp \
@@ -51,9 +50,7 @@ CXXHDRS		 = math/test/test.hpp \
 		   math/Dcm.hpp \
 		   math/Matrix.hpp
 
-#
 # XXX this really should be a CONFIG_* test
-#
 ifeq ($(TARGET),px4fmu)
 INCLUDES	+= math/arm
 CXXSRCS		+= math/arm/Vector.cpp \
diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp
index 4c2067aff..59f3d88ab 100644
--- a/apps/mathlib/math/Dcm.cpp
+++ b/apps/mathlib/math/Dcm.cpp
@@ -37,7 +37,7 @@
  * math direction cosine matrix
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "Dcm.hpp"
 #include "Quaternion.hpp"
diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp
index b6c1a0669..8991d5623 100644
--- a/apps/mathlib/math/EulerAngles.cpp
+++ b/apps/mathlib/math/EulerAngles.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "EulerAngles.hpp"
 #include "Quaternion.hpp"
diff --git a/apps/mathlib/math/Matrix.cpp b/apps/mathlib/math/Matrix.cpp
index ebd1aeda3..981732370 100644
--- a/apps/mathlib/math/Matrix.cpp
+++ b/apps/mathlib/math/Matrix.cpp
@@ -37,7 +37,7 @@
  * matrix code
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 #include <math.h>
 
 #include "Matrix.hpp"
diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp
index 7c4b0593a..68fe85300 100644
--- a/apps/mathlib/math/Quaternion.cpp
+++ b/apps/mathlib/math/Quaternion.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 
 #include "Quaternion.hpp"
diff --git a/apps/mathlib/math/Vector.cpp b/apps/mathlib/math/Vector.cpp
index 35158a396..d58e719db 100644
--- a/apps/mathlib/math/Vector.cpp
+++ b/apps/mathlib/math/Vector.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "Vector.hpp"
 
diff --git a/apps/mathlib/math/Vector3.cpp b/apps/mathlib/math/Vector3.cpp
index 61fcc442f..9c57506da 100644
--- a/apps/mathlib/math/Vector3.cpp
+++ b/apps/mathlib/math/Vector3.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include "test/test.hpp"
+#include "math/test/test.hpp"
 
 #include "Vector3.hpp"
 
diff --git a/apps/mathlib/mathlib.h b/apps/mathlib/mathlib.h
new file mode 100644
index 000000000..b919d53db
--- /dev/null
+++ b/apps/mathlib/mathlib.h
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. 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 PX4 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 mathlib.h
+ *
+ * Common header for mathlib exports.
+ */
+
+#ifdef __cplusplus
+
+#include "math/Dcm.hpp"
+#include "math/EulerAngles.hpp"
+#include "math/Matrix.hpp"
+#include "math/Quaternion.hpp"
+#include "math/Vector.hpp"
+#include "math/Vector3.hpp"
+
+#endif
+
+#ifdef CONFIG_ARCH_ARM
+
+#include "CMSIS/Include/arm_math.h"
+
+#endif
\ No newline at end of file