diff options
| -rw-r--r-- | stmhal/math.c | 15 | ||||
| -rw-r--r-- | stmhal/servo.c | 6 |
2 files changed, 16 insertions, 5 deletions
diff --git a/stmhal/math.c b/stmhal/math.c index 8afdc82a64..534389df51 100644 --- a/stmhal/math.c +++ b/stmhal/math.c @@ -1,4 +1,6 @@ #include <stdint.h> +#include <math.h> + typedef float float_t; typedef union { float f; @@ -86,7 +88,6 @@ float erfcf(float x) { return 0.0; } float modff(float x, float *y) { return 0.0; } float frexpf(float x, int *exp) { return 0.0; } float ldexpf(float x, int exp) { return 0.0; } -int __fpclassifyf(float x) { return 0; } /*****************************************************************************/ // from musl-0.9.15 libm.h @@ -136,6 +137,18 @@ do { \ } while (0) /*****************************************************************************/ +// __fpclassifyf from musl-0.9.15 + +int __fpclassifyf(float x) +{ + union {float f; uint32_t i;} u = {x}; + int e = u.i>>23 & 0xff; + if (!e) return u.i<<1 ? FP_SUBNORMAL : FP_ZERO; + if (e==0xff) return u.i<<9 ? FP_NAN : FP_INFINITE; + return FP_NORMAL; +} + +/*****************************************************************************/ // scalbnf from musl-0.9.15 float scalbnf(float x, int n) diff --git a/stmhal/servo.c b/stmhal/servo.c index 9c757c5659..893fb11bdb 100644 --- a/stmhal/servo.c +++ b/stmhal/servo.c @@ -27,8 +27,6 @@ typedef struct _pyb_servo_obj_t { uint16_t pulse_dest; } pyb_servo_obj_t; -STATIC const mp_obj_type_t servo_obj_type; - STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM]; void servo_init(void) { @@ -36,7 +34,7 @@ void servo_init(void) { // reset servo objects for (int i = 0; i < PYB_SERVO_NUM; i++) { - pyb_servo_obj[i].base.type = &servo_obj_type; + pyb_servo_obj[i].base.type = &pyb_servo_type; pyb_servo_obj[i].servo_id = i + 1; pyb_servo_obj[i].time_left = 0; pyb_servo_obj[i].pulse_cur = 150; // units of 10us @@ -149,7 +147,7 @@ STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con // check servo number if (!(0 <= servo_id && servo_id < PYB_SERVO_NUM)) { - nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id)); + nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id + 1)); } // get and init servo object |