#382 Refactoring to reduce warnings in unit tests

src/deck/drivers/src/flowdeck_v1v2.c

@@ -38,7 +38,7 @@
 #include "estimator.h"
 #include "estimator_kalman.h"
 
-#include "arm_math.h"
+#include "cf_math.h"
 
 #include <stdlib.h>
 

src/deck/drivers/src/lpsTwrTag.c

@@ -39,7 +39,7 @@
 
 #include "stabilizer_types.h"
 #include "estimator_kalman.h"
-#include "arm_math.h"
+#include "cf_math.h"
 
 #include "physicalConstants.h"
 #include "configblock.h"

src/deck/drivers/src/zranger.c

@@ -44,7 +44,7 @@
 
 #include "estimator.h"
 #include "estimator_kalman.h"
-#include "arm_math.h"
+#include "cf_math.h"
 
 // Measurement noise model
 static float expPointA = 1.0f;

src/deck/drivers/src/zranger2.c

@@ -45,7 +45,7 @@
 
 #include "estimator.h"
 #include "estimator_kalman.h"
-#include "arm_math.h"
+#include "cf_math.h"
 
 // Measurement noise model
 static float expPointA = 2.5f;

src/modules/src/estimator_kalman.c

@@ -70,7 +70,7 @@
 #include "param.h"
 
 #include "math.h"
-#include "arm_math.h"
+#include "cf_math.h"
 
 //#define KALMAN_USE_BARO_UPDATE
 //#define KALMAN_NAN_CHECK

src/utils/interface/cf_math.h

@@ -0,0 +1,38 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2018 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Utilities to simplify unit testing
+ *
+ */
+
+#pragma once
+
+// Include "arm_math.h". This header generates some warnings, especially in
+// unit tests. We hide them to avoid noise.
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#pragma GCC diagnostic ignored "-Wpointer-to-int-cast"
+#pragma GCC diagnostic ignored "-Wint-to-pointer-cast"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#include "arm_math.h"
+#pragma GCC diagnostic pop

test/deck/drivers/src/test_lps_twr_tag.c

@@ -14,9 +14,9 @@
 
 // #include "mock_arm_math.h"
 
-// The mocking FW can not handle the arm_math.h file, it crashes while parsing it. We have to use manual mocks instead.
+// The mocking FW can not handle the cf_math.h/arm_math.h file, it crashes while parsing it. We have to use manual mocks instead.
 // Temporarily fix to make tests pass, add test code for the kalman part of rxcallback()
-#include "arm_math.h"
+#include "cf_math.h"
 void arm_std_f32( float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
 void arm_mean_f32( float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }