0,0 → 1,255 |
// -*- 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. |
/// |
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#ifndef _AP_COMMON_H |
#define _AP_COMMON_H |
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// 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 |
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// 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; |
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#include <stdint.h> |
#include "include/menu.h" /// simple menu subsystem |
#include "c++.h" // c++ additions |
//#include "AP_Vector.h" |
//#include "AP_Loop.h" |
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// 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 |
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//////////////////////////////////////////////////////////////////////////////// |
/// @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" |
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// 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" |
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// 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 |
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# undef PSTR |
# define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); \ |
(prog_char_t *)&__c[0];})) |
#endif |
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// 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) |
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static inline int strcasecmp_P(const char *str1, const prog_char_t *pstr) |
{ |
return strcasecmp_P(str1, (const prog_char *)pstr); |
} |
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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); |
} |
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static inline void *memcpy_P(void *dest, const prog_char_t *src, size_t n) |
{ |
return memcpy_P(dest, (const prog_char *)src, n); |
} |
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// 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; |
} |
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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); |
} |
|
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// 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; |
} |
} |
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//@} |
|
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/// |
/// @name Macros |
/// @{ |
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/// 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 |
// @} |
|
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//////////////////////////////////////////////////////////////////////////////// |
/// @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 |
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//@{ |
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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 |
}; |
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//@} |
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//////////////////////////////////////////////////////////////////////////////// |
/// @name Conversions |
/// |
/// Conversion macros and factors. |
/// |
//@{ |
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/// 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 |
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//@} |
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#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 |
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/* 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 |
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#endif // _AP_COMMON_H |