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163 lines
6.6 KiB
163 lines
6.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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#ifndef __AP_COMMON_H__ |
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#define __AP_COMMON_H__ |
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#include <stdint.h> |
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#include <stdlib.h> |
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#include <stdbool.h> |
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#pragma GCC diagnostic warning "-Wall" |
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#pragma GCC diagnostic warning "-Wextra" |
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#pragma GCC diagnostic warning "-Wlogical-op" |
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#pragma GCC diagnostic ignored "-Wredundant-decls" |
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// used to pack structures |
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) |
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#define PACKED |
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#else |
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#define PACKED __attribute__((__packed__)) |
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#endif |
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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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// Make some dire warnings into errors |
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// |
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// Some warnings indicate questionable code; rather than let |
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// these slide, we force them to become errors so that the |
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// developer has to find a safer alternative. |
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// |
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//#pragma GCC diagnostic error "-Wfloat-equal" |
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// The following is strictly for type-checking arguments to printf_P calls |
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// in conjunction with a suitably modified Arduino IDE; never define for |
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// production as it generates bad code. |
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// |
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#if defined(PRINTF_FORMAT_WARNING_DEBUG) |
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# undef PSTR |
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# define PSTR(_x) _x // help the compiler with printf_P |
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# define float double // silence spurious format warnings for %f |
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#endif |
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#define FPSTR(s) (wchar_t *)(s) |
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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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/* |
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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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// @} |
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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: Chnage 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: |
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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 relateive 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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}; |
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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) |
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int32_t lat; ///< param 3 - Lattitude * 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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/* Product IDs for all supported products follow */ |
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#define AP_PRODUCT_ID_NONE 0x00 // Hardware in the loop |
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#define AP_PRODUCT_ID_APM1_1280 0x01 // APM1 with 1280 CPUs |
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#define AP_PRODUCT_ID_APM1_2560 0x02 // APM1 with 2560 CPUs |
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#define AP_PRODUCT_ID_SITL 0x03 // Software in the loop |
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#define AP_PRODUCT_ID_PX4 0x04 // PX4 on NuttX |
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#define AP_PRODUCT_ID_PX4_V2 0x05 // PX4 FMU2 on NuttX |
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#define AP_PRODUCT_ID_APM2ES_REV_C4 0x14 // APM2 with MPU6000ES_REV_C4 |
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#define AP_PRODUCT_ID_APM2ES_REV_C5 0x15 // APM2 with MPU6000ES_REV_C5 |
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#define AP_PRODUCT_ID_APM2ES_REV_D6 0x16 // APM2 with MPU6000ES_REV_D6 |
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#define AP_PRODUCT_ID_APM2ES_REV_D7 0x17 // APM2 with MPU6000ES_REV_D7 |
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#define AP_PRODUCT_ID_APM2ES_REV_D8 0x18 // APM2 with MPU6000ES_REV_D8 |
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#define AP_PRODUCT_ID_APM2_REV_C4 0x54 // APM2 with MPU6000_REV_C4 |
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#define AP_PRODUCT_ID_APM2_REV_C5 0x55 // APM2 with MPU6000_REV_C5 |
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#define AP_PRODUCT_ID_APM2_REV_D6 0x56 // APM2 with MPU6000_REV_D6 |
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#define AP_PRODUCT_ID_APM2_REV_D7 0x57 // APM2 with MPU6000_REV_D7 |
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#define AP_PRODUCT_ID_APM2_REV_D8 0x58 // APM2 with MPU6000_REV_D8 |
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#define AP_PRODUCT_ID_APM2_REV_D9 0x59 // APM2 with MPU6000_REV_D9 |
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#define AP_PRODUCT_ID_FLYMAPLE 0x100 // Flymaple with ITG3205, ADXL345, HMC5883, BMP085 |
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#define AP_PRODUCT_ID_L3G4200D 0x101 // Linux with L3G4200D and ADXL345 |
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#define AP_PRODUCT_ID_PIXHAWK_FIRE_CAPE 0x102 // Linux with the PixHawk Fire Cape |
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#define AP_PRODUCT_ID_MPU9250 0x103 // MPU9250 |
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#define AP_PRODUCT_ID_VRBRAIN 0x150 // VRBRAIN on NuttX |
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#endif // _AP_COMMON_H
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