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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