// -*- 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 #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 /* Need const type for progmem - new for avr-gcc 4.6 */ # if __AVR__ && __GNUC__ == 4 && __GNUC_MINOR__ > 5 # define PSTR(s) (__extension__({static const prog_char __c[] PROGMEM = (s); \ (const prog_char_t *)&__c[0]; })) #else # define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); \ (prog_char_t *)&__c[0]; })) #endif #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