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183 lines
6.7 KiB
183 lines
6.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/// |
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/// @file AP_Common.h |
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/// @brief Common definitions and utility routines for the ArduPilot |
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/// libraries. |
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/// |
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#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#include <stdint.h> |
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#include <stdlib.h> |
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// used to pack structures |
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#define PACKED __attribute__((__packed__)) |
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// used to mark a function that may be unused in some builds |
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#define UNUSED_FUNCTION __attribute__((unused)) |
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// this can be used to optimize individual functions |
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#define OPTIMIZE(level) __attribute__((optimize(level))) |
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// sometimes we need to prevent inlining to prevent large stack usage |
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#define NOINLINE __attribute__((noinline)) |
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#define FMT_PRINTF(a,b) __attribute__((format(printf, a, b))) |
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#define FMT_SCANF(a,b) __attribute__((format(scanf, a, b))) |
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#ifdef __has_cpp_attribute |
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# if __has_cpp_attribute(fallthrough) |
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# define FALLTHROUGH [[fallthrough]] |
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# elif __has_cpp_attribute(gnu::fallthrough) |
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# define FALLTHROUGH [[gnu::fallthrough]] |
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# endif |
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#endif |
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#ifndef FALLTHROUGH |
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# define FALLTHROUGH |
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#endif |
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#define ToRad(x) radians(x) // *pi/180 |
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#define ToDeg(x) degrees(x) // *180/pi |
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/* Declare and implement const and non-const versions of the array subscript |
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* operator. The object is treated as an array of type_ values. */ |
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#define DEFINE_BYTE_ARRAY_METHODS \ |
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inline uint8_t &operator[](size_t i) { return reinterpret_cast<uint8_t *>(this)[i]; } \ |
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inline uint8_t operator[](size_t i) const { return reinterpret_cast<const uint8_t *>(this)[i]; } |
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#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field |
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/* |
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check if bit bitnumber is set in value, returned as a |
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bool. Bitnumber starts at 0 for the first bit |
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*/ |
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#define BIT_IS_SET(value, bitnumber) (((value) & (1U<<(bitnumber))) != 0) |
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// get high or low bytes from 2 byte integer |
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#define LOWBYTE(i) ((uint8_t)(i)) |
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#define HIGHBYTE(i) ((uint8_t)(((uint16_t)(i))>>8)) |
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template <typename T, size_t N> |
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char (&_ARRAY_SIZE_HELPER(T (&_arr)[N]))[N]; |
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template <typename T> |
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char (&_ARRAY_SIZE_HELPER(T (&_arr)[0]))[0]; |
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#define ARRAY_SIZE(_arr) sizeof(_ARRAY_SIZE_HELPER(_arr)) |
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// simpler ARRAY_SIZE which can handle zero elements |
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#define ARRAY_SIZE_SIMPLE(_arr) (sizeof(_arr)/sizeof(_arr[0])) |
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/* |
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* See UNUSED_RESULT. The difference is that it receives @uniq_ as the name to |
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* be used for its internal variable. |
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* |
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* @uniq_: a unique name to use for variable name |
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* @expr_: the expression to be evaluated |
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*/ |
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#define _UNUSED_RESULT(uniq_, expr_) \ |
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do { \ |
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decltype(expr_) uniq_ __attribute__((unused)); \ |
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uniq_ = expr_; \ |
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} while (0) |
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/* |
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* Allow to call a function annotated with warn_unused_result attribute |
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* without getting a warning, because sometimes this is what we want to do. |
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* |
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* @expr_: the expression to be evaluated |
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*/ |
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#define UNUSED_RESULT(expr_) _UNUSED_RESULT(__unique_name_##__COUNTER__, expr_) |
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// @} |
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//////////////////////////////////////////////////////////////////////////////// |
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/// @name Types |
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/// |
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/// Data structures and types used throughout the libraries and applications. 0 = default |
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/// bit 0: Altitude is stored 0: Absolute, 1: Relative |
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/// bit 1: Change Alt between WP 0: Gradually, 1: ASAP |
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/// bit 2: Direction of loiter command 0: Clockwise 1: Counter-Clockwise |
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/// bit 3: Req.to hit WP.alt to continue 0: No, 1: Yes |
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/// bit 4: Relative to Home 0: No, 1: Yes |
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/// bit 5: Loiter crosstrack reference 0: WP center 1: Tangent exit point |
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/// bit 6: |
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/// bit 7: Move to next Command 0: YES, 1: Loiter until commanded |
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//@{ |
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struct PACKED Location_Option_Flags { |
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uint8_t relative_alt : 1; // 1 if altitude is relative to home |
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uint8_t unused1 : 1; // unused flag (defined so that loiter_ccw uses the correct bit) |
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uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise |
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uint8_t terrain_alt : 1; // this altitude is above terrain |
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uint8_t origin_alt : 1; // this altitude is above ekf origin |
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uint8_t loiter_xtrack : 1; // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location |
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}; |
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struct PACKED Location { |
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union { |
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Location_Option_Flags flags; ///< options bitmask (1<<0 = relative altitude) |
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uint8_t options; /// allows writing all flags to eeprom as one byte |
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}; |
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// by making alt 24 bit we can make p1 in a command 16 bit, |
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// allowing an accurate angle in centi-degrees. This keeps the |
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// storage cost per mission item at 15 bytes, and allows mission |
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// altitudes of up to +/- 83km |
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int32_t alt:24; ///< param 2 - Altitude in centimeters (meters * 100) see LOCATION_ALT_MAX_M |
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int32_t lat; ///< param 3 - Latitude * 10**7 |
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int32_t lng; ///< param 4 - Longitude * 10**7 |
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}; |
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/* |
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home states. Used to record if user has overridden home position. |
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*/ |
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enum HomeState { |
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HOME_UNSET, // home is unset, no GPS positions yet received |
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HOME_SET_NOT_LOCKED, // home is set to EKF origin or armed location (can be moved) |
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HOME_SET_AND_LOCKED // home has been set by user, cannot be moved except by user initiated do-set-home command |
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}; |
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//@} |
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//////////////////////////////////////////////////////////////////////////////// |
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/// @name Conversions |
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/// |
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/// Conversion macros and factors. |
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/// |
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//@{ |
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/* |
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Return true if value is between lower and upper bound inclusive. |
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False otherwise. |
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*/ |
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bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT |
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#include <AP_HAL_QURT/replace.h> |
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#endif |
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/* |
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useful debugging macro for SITL |
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*/ |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <stdio.h> |
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#define SITL_printf(fmt, args ...) do { ::printf("%s(%u): " fmt, __FILE__, __LINE__, ##args); } while(0) |
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#else |
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#define SITL_printf(fmt, args ...) |
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#endif
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