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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

//

// This is free software; you can redistribute it and/or modify it under

// the terms of the GNU Lesser General Public License as published by the

// Free Software Foundation; either version 2.1 of the License, or (at

// your option) any later version.

//

///

/// @file               AP_Common.h

/// @brief              Common definitions and utility routines for the ArduPilot

///                             libraries.

///

#ifndef _AP_COMMON_H

#define _AP_COMMON_H

// Get the common arduino functions

#if defined(ARDUINO) && ARDUINO >= 100

        #include "Arduino.h"

#else

        #include "wiring.h"

#endif

// ... and remove some of their stupid macros

#undef round

#undef abs

// prog_char_t is used as a wrapper type for prog_char, which is

// a character stored in flash. By using this wrapper type we can

// auto-detect at compile time if a call to a string function is using

// a flash-stored string or not

typedef struct {

    char c;

} prog_char_t;

#include <stdint.h>

#include "include/menu.h"               /// simple menu subsystem

#include "c++.h" // c++ additions

//#include "AP_Vector.h"

//#include "AP_Loop.h"

// default to AP_Param system, unless USE_AP_VAR is defined

#ifdef USE_AP_VAR

#include "AP_Var.h"

#else

#include "AP_Param.h"

#endif

////////////////////////////////////////////////////////////////////////////////

/// @name       Warning control

//@{

//

// Turn on/off warnings of interest.

//

// These warnings are normally suppressed by the Arduino IDE,

// but with some minor hacks it's possible to have warnings

// emitted.  This helps greatly when diagnosing subtle issues.

//

#pragma GCC diagnostic warning "-Wall"

#pragma GCC diagnostic warning "-Wextra"

#pragma GCC diagnostic warning "-Wlogical-op"

#pragma GCC diagnostic ignored "-Wredundant-decls"

// Make some dire warnings into errors

//

// Some warnings indicate questionable code; rather than let

// these slide, we force them to become errors so that the

// developer has to find a safer alternative.

//

//#pragma GCC diagnostic error "-Wfloat-equal"

// The following is strictly for type-checking arguments to printf_P calls

// in conjunction with a suitably modified Arduino IDE; never define for

// production as it generates bad code.

//

#if PRINTF_FORMAT_WARNING_DEBUG

# undef PSTR

# define PSTR(_x)               _x              // help the compiler with printf_P

# define float double                   // silence spurious format warnings for %f

#else

// This is a workaround for GCC bug c++/34734.

//

// The C++ compiler normally emits many spurious warnings for the use

// of PSTR (even though it generates correct code).  This workaround

// has an equivalent effect but avoids the warnings, which otherwise

// make finding real issues difficult.

//

#ifdef DESKTOP_BUILD

# undef PROGMEM

# define PROGMEM __attribute__(())

#else

# undef PROGMEM

# define PROGMEM __attribute__(( section(".progmem.data") ))

#endif

# undef PSTR

# define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); \

                (prog_char_t *)&__c[0];}))

#endif

// a varient of PSTR() for progmem strings passed to %S in printf()

// this gets the gcc __format__ checking right

#define FPSTR(s) (wchar_t *)(s)

static inline int strcasecmp_P(const char *str1, const prog_char_t *pstr)

{

    return strcasecmp_P(str1, (const prog_char *)pstr);

}

static inline int strcmp_P(const char *str1, const prog_char_t *pstr)

{

    return strcmp_P(str1, (const prog_char *)pstr);

}

static inline size_t strlen_P(const prog_char_t *pstr)

{

    return strlen_P((const prog_char *)pstr);

}

static inline void *memcpy_P(void *dest, const prog_char_t *src, size_t n)

{

    return memcpy_P(dest, (const prog_char *)src, n);

}

// strlcat_P() in AVR libc seems to be broken 

static inline size_t strlcat_P(char *d, const prog_char_t *s, size_t bufsize)

{

        size_t len1 = strlen(d);

        size_t len2 = strlen_P(s);

        size_t ret = len1 + len2;

        if (len1+len2 >= bufsize) {

                if (bufsize < (len1+1)) {

                        return ret;

                }

                len2 = bufsize - (len1+1);

        }

        if (len2 > 0) {

                memcpy_P(d+len1, s, len2);

                d[len1+len2] = 0;

        }

        return ret;

}

static inline char *strncpy_P(char *buffer, const prog_char_t *pstr, size_t buffer_size)

{

    return strncpy_P(buffer, (const prog_char *)pstr, buffer_size);

}

// read something the size of a pointer. This makes the menu code more

// portable

static inline uintptr_t pgm_read_pointer(const void *s)

{

    if (sizeof(uintptr_t) == sizeof(uint16_t)) {

        return (uintptr_t)pgm_read_word(s);

    } else {

        union {

            uintptr_t p;

            uint8_t a[sizeof(uintptr_t)];

        } u;

        uint8_t i;

        for (i=0; i< sizeof(uintptr_t); i++) {

            u.a[i] = pgm_read_byte(i + (const prog_char *)s);

        }

        return u.p;

    }

}

//@}

///

/// @name Macros

/// @{

/// Define a constant string in program memory.  This is a little more obvious

/// and less error-prone than typing the declaration out by hand.  It's required

/// when passing PROGMEM strings to static object constructors because the PSTR

/// hack can't be used at global scope.

///

#define PROGMEM_STRING(_v, _s)  static const char _v[] PROGMEM = _s

#define ToRad(x) (x*0.01745329252)      // *pi/180

#define ToDeg(x) (x*57.2957795131)      // *180/pi

// @}

////////////////////////////////////////////////////////////////////////////////

/// @name       Types

///

/// Data structures and types used throughout the libraries and applications. 0 = default

/// bit 0: Altitude is stored                       0: Absolute,        1: Relative

/// bit 1: Chnage Alt between WP                    0: Gradually,       1: ASAP

/// bit 2:

/// bit 3: Req.to hit WP.alt to continue    0: No,          1: Yes

/// bit 4: Relative to Home                                     0: No,                  1: Yes

/// bit 5:

/// bit 6:

/// bit 7: Move to next Command                     0: YES,             1: Loiter until commanded

//@{

struct Location {

    uint8_t             id;                                     ///< command id

    uint8_t             options;                        ///< options bitmask (1<<0 = relative altitude)

    uint8_t             p1;                                     ///< param 1

    int32_t             alt;                            ///< param 2 - Altitude in centimeters (meters * 100)

    int32_t             lat;                            ///< param 3 - Lattitude * 10**7

    int32_t             lng;                            ///< param 4 - Longitude * 10**7

};

//@}

////////////////////////////////////////////////////////////////////////////////

/// @name       Conversions

///

/// Conversion macros and factors.

///

//@{

/// XXX this should probably be replaced with radians()/degrees(), but their

/// inclusion in wiring.h makes doing that here difficult.

#define ToDeg(x) (x*57.2957795131)      // *180/pi

#define ToRad(x) (x*0.01745329252)      // *pi/180

//@}

#ifdef DESKTOP_BUILD

// used to report serious errors in autotest

# define SITL_debug(fmt, args...)  fprintf(stdout, "%s:%u " fmt, __FUNCTION__, __LINE__, ##args)

#else

# define SITL_debug(fmt, args...)

#endif

/*  Product IDs for all supported products follow */

#define AP_PRODUCT_ID_NONE                      0x00    // Hardware in the loop

#define AP_PRODUCT_ID_APM1_1280         0x01    // APM1 with 1280 CPUs

#define AP_PRODUCT_ID_APM1_2560         0x02    // APM1 with 2560 CPUs

#define AP_PRODUCT_ID_SITL                      0x03    // Software in the loop

#define AP_PRODUCT_ID_APM2ES_REV_C4 0x14        // APM2 with MPU6000ES_REV_C4

#define AP_PRODUCT_ID_APM2ES_REV_C5     0x15    // APM2 with MPU6000ES_REV_C5

#define AP_PRODUCT_ID_APM2ES_REV_D6     0x16    // APM2 with MPU6000ES_REV_D6

#define AP_PRODUCT_ID_APM2ES_REV_D7     0x17    // APM2 with MPU6000ES_REV_D7

#define AP_PRODUCT_ID_APM2ES_REV_D8     0x18    // APM2 with MPU6000ES_REV_D8   

#define AP_PRODUCT_ID_APM2_REV_C4       0x54    // APM2 with MPU6000_REV_C4     

#define AP_PRODUCT_ID_APM2_REV_C5       0x55    // APM2 with MPU6000_REV_C5     

#define AP_PRODUCT_ID_APM2_REV_D6       0x56    // APM2 with MPU6000_REV_D6             

#define AP_PRODUCT_ID_APM2_REV_D7       0x57    // APM2 with MPU6000_REV_D7     

#define AP_PRODUCT_ID_APM2_REV_D8       0x58    // APM2 with MPU6000_REV_D8     

#define AP_PRODUCT_ID_APM2_REV_D9       0x59    // APM2 with MPU6000_REV_D9     

#endif // _AP_COMMON_H