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255 lines
7.6 KiB
255 lines
7.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// This is free software; you can redistribute it and/or modify it under |
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// the terms of the GNU Lesser General Public License as published by the |
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// Free Software Foundation; either version 2.1 of the License, or (at |
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// your option) any later version. |
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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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// Get the common arduino functions |
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#if defined(ARDUINO) && ARDUINO >= 100 |
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#include "Arduino.h" |
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#else |
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#include "wiring.h" |
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#endif |
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// ... and remove some of their stupid macros |
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#undef round |
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#undef abs |
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// prog_char_t is used as a wrapper type for prog_char, which is |
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// a character stored in flash. By using this wrapper type we can |
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// auto-detect at compile time if a call to a string function is using |
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// a flash-stored string or not |
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typedef struct { |
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char c; |
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} prog_char_t; |
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#include <stdint.h> |
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#include "include/menu.h" /// simple menu subsystem |
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#include "c++.h" // c++ additions |
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//#include "AP_Vector.h" |
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//#include "AP_Loop.h" |
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// default to AP_Param system, unless USE_AP_VAR is defined |
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#ifdef USE_AP_VAR |
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#include "AP_Var.h" |
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#else |
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#include "AP_Param.h" |
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#endif |
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//////////////////////////////////////////////////////////////////////////////// |
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/// @name Warning control |
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//@{ |
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// |
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// Turn on/off warnings of interest. |
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// |
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// These warnings are normally suppressed by the Arduino IDE, |
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// but with some minor hacks it's possible to have warnings |
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// emitted. This helps greatly when diagnosing subtle issues. |
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// |
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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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// 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 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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#else |
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// This is a workaround for GCC bug c++/34734. |
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// |
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// The C++ compiler normally emits many spurious warnings for the use |
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// of PSTR (even though it generates correct code). This workaround |
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// has an equivalent effect but avoids the warnings, which otherwise |
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// make finding real issues difficult. |
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// |
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#ifdef DESKTOP_BUILD |
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# undef PROGMEM |
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# define PROGMEM __attribute__(()) |
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#else |
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# undef PROGMEM |
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# define PROGMEM __attribute__(( section(".progmem.data") )) |
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#endif |
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# undef PSTR |
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# define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); \ |
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(prog_char_t *)&__c[0];})) |
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#endif |
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// a varient of PSTR() for progmem strings passed to %S in printf() |
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// this gets the gcc __format__ checking right |
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#define FPSTR(s) (wchar_t *)(s) |
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static inline int strcasecmp_P(const char *str1, const prog_char_t *pstr) |
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{ |
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return strcasecmp_P(str1, (const prog_char *)pstr); |
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} |
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static inline int strcmp_P(const char *str1, const prog_char_t *pstr) |
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{ |
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return strcmp_P(str1, (const prog_char *)pstr); |
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} |
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static inline size_t strlen_P(const prog_char_t *pstr) |
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{ |
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return strlen_P((const prog_char *)pstr); |
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} |
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static inline void *memcpy_P(void *dest, const prog_char_t *src, size_t n) |
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{ |
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return memcpy_P(dest, (const prog_char *)src, n); |
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} |
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// strlcat_P() in AVR libc seems to be broken |
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static inline size_t strlcat_P(char *d, const prog_char_t *s, size_t bufsize) |
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{ |
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size_t len1 = strlen(d); |
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size_t len2 = strlen_P(s); |
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size_t ret = len1 + len2; |
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if (len1+len2 >= bufsize) { |
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if (bufsize < (len1+1)) { |
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return ret; |
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} |
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len2 = bufsize - (len1+1); |
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} |
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if (len2 > 0) { |
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memcpy_P(d+len1, s, len2); |
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d[len1+len2] = 0; |
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} |
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return ret; |
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} |
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static inline char *strncpy_P(char *buffer, const prog_char_t *pstr, size_t buffer_size) |
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{ |
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return strncpy_P(buffer, (const prog_char *)pstr, buffer_size); |
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} |
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// read something the size of a pointer. This makes the menu code more |
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// portable |
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static inline uintptr_t pgm_read_pointer(const void *s) |
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{ |
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if (sizeof(uintptr_t) == sizeof(uint16_t)) { |
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return (uintptr_t)pgm_read_word(s); |
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} else { |
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union { |
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uintptr_t p; |
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uint8_t a[sizeof(uintptr_t)]; |
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} u; |
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uint8_t i; |
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for (i=0; i< sizeof(uintptr_t); i++) { |
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u.a[i] = pgm_read_byte(i + (const prog_char *)s); |
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} |
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return u.p; |
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} |
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} |
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//@} |
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/// |
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/// @name Macros |
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/// @{ |
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/// Define a constant string in program memory. This is a little more obvious |
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/// and less error-prone than typing the declaration out by hand. It's required |
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/// when passing PROGMEM strings to static object constructors because the PSTR |
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/// hack can't be used at global scope. |
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/// |
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#define PROGMEM_STRING(_v, _s) static const char _v[] PROGMEM = _s |
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#define ToRad(x) (x*0.01745329252) // *pi/180 |
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#define ToDeg(x) (x*57.2957795131) // *180/pi |
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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: |
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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 Location { |
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uint8_t id; ///< command id |
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uint8_t options; ///< options bitmask (1<<0 = relative altitude) |
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uint8_t p1; ///< param 1 |
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int32_t alt; ///< 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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//////////////////////////////////////////////////////////////////////////////// |
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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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/// XXX this should probably be replaced with radians()/degrees(), but their |
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/// inclusion in wiring.h makes doing that here difficult. |
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#define ToDeg(x) (x*57.2957795131) // *180/pi |
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#define ToRad(x) (x*0.01745329252) // *pi/180 |
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//@} |
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#ifdef DESKTOP_BUILD |
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// used to report serious errors in autotest |
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# define SITL_debug(fmt, args...) fprintf(stdout, "%s:%u " fmt, __FUNCTION__, __LINE__, ##args) |
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#else |
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# define SITL_debug(fmt, args...) |
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#endif |
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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_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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#endif // _AP_COMMON_H
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