Added math library to build.

3 files changed, 166 insertions, 2 deletions

diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile
index 5778c552e..b3e7f6ac9 100644
--- a/apps/systemlib/Makefile
+++ b/apps/systemlib/Makefile
@@ -48,14 +48,40 @@ CSRCS		 = err.c \
 #		   ppm_decode.c \
 
 
+CXXSRCS   =  test/test.cpp \
+			 math/Vector.cpp \
+			 math/Vector3.cpp \
+			 math/EulerAngles.cpp \
+			 math/Quaternion.cpp \
+			 math/Dcm.cpp \
+			 math/Matrix.cpp
+
+CXXHDRS   =  test/test.hpp \
+			 math/Vector.hpp \
+			 math/Vector3.hpp \
+			 math/EulerAngles.hpp \
+			 math/Quaternion.hpp \
+			 math/Dcm.hpp \
+			 math/Matrix.hpp
 
 #
 # XXX this really should be a CONFIG_* test
 #
 ifeq ($(TARGET),px4fmu)
+INCLUDES += math/arm
 CSRCS		+= systemlib.c \
-		   pid/pid.c \
-		   geo/geo.c
+		pid/pid.c \
+		geo/geo.c
+CXXSRCS     += math/arm/Vector.cpp \
+		math/arm/Matrix.cpp
+CXXHDRS     += math/arm/Vector.hpp \
+	    math/arm/Matrix.hpp
+else
+INCLUDES += math/generic
+CXXSRCS     += math/generic/Vector.cpp \
+		math/generic/Matrix.cpp
+CXXHDRS     += math/generic/Vector.hpp \
+	    math/generic/Matrix.hpp
 endif
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/systemlib/test/test.cpp b/apps/systemlib/test/test.cpp
new file mode 100644
index 000000000..aa00e66fa
--- /dev/null
+++ b/apps/systemlib/test/test.cpp
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   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 test.cpp
+ *
+ * Test library code
+ */
+
+#include <stdio.h>
+#include <math.h>
+
+#include "test.hpp"
+
+bool __EXPORT equal(float a, float b, float epsilon)
+{
+    float diff = fabsf(a-b);
+    if (diff>epsilon)
+    {
+        printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b)); 
+        return false;
+    }
+    else return true;
+}
+
+void __EXPORT float2SigExp(
+        const float & num,
+        float & sig,
+        int & exp)
+{
+    if (isnan(num) || isinf(num))
+    {
+        sig = 0.0f;
+        exp = -99;
+        return;
+    }
+    if (fabsf(num) < 1.0e-38f)
+    {
+        sig = 0;
+        exp = 0;
+        return;
+    }
+    exp = log10f(fabsf(num));
+    if (exp>0) {
+        exp = ceil(exp);
+    } else {
+        exp = floor(exp);
+    }
+    sig = num;
+    // cheap power since it is integer
+    if (exp>0) {
+        for (int i=0;i<abs(exp);i++) sig /= 10;
+    } else {
+        for (int i=0;i<abs(exp);i++) sig *= 10;
+    }
+}
+
+
diff --git a/apps/systemlib/test/test.hpp b/apps/systemlib/test/test.hpp
new file mode 100644
index 000000000..860758e7d
--- /dev/null
+++ b/apps/systemlib/test/test.hpp
@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   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 test.hpp
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <assert.h>
+#include <time.h>
+#include <stdlib.h>
+
+bool equal(float a, float b, float eps = 1e-5);
+void float2SigExp(
+        const float & num,
+        float & sig,
+        int & exp);