// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
///
/// @file AP_Common.h
/// @brief Common definitions and utility routines for the ArduPilot
/// libraries.
///
#ifndef __AP_COMMON_H__
#define __AP_COMMON_H__
#include
#include
#include
#pragma GCC diagnostic warning "-Wall"
#pragma GCC diagnostic warning "-Wextra"
#pragma GCC diagnostic warning "-Wlogical-op"
#pragma GCC diagnostic ignored "-Wredundant-decls"
// used to pack structures
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define PACKED
#else
#define PACKED __attribute__((__packed__))
#endif
// this can be used to optimize individual functions
#define OPTIMIZE(level) __attribute__((optimize(level)))
// 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
#endif
#define FPSTR(s) (wchar_t *)(s)
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
/*
check if bit bitnumber is set in value, returned as a
bool. Bitnumber starts at 0 for the first bit
*/
#define BIT_IS_SET(value, bitnumber) (((value) & (1U<<(bitnumber))) != 0)
// get high or low bytes from 2 byte integer
#define LOWBYTE(i) ((uint8_t)(i))
#define HIGHBYTE(i) ((uint8_t)(((uint16_t)(i))>>8))
// @}
////////////////////////////////////////////////////////////////////////////////
/// @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: Direction of loiter command 0: Clockwise 1: Counter-Clockwise
/// 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 PACKED Location_Option_Flags {
uint8_t relative_alt : 1; // 1 if altitude is relateive to home
uint8_t unused1 : 1; // unused flag (defined so that loiter_ccw uses the correct bit)
uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise
uint8_t terrain_alt : 1; // this altitude is above terrain
};
struct PACKED Location {
union {
Location_Option_Flags flags; ///< options bitmask (1<<0 = relative altitude)
uint8_t options; /// allows writing all flags to eeprom as one byte
};
// by making alt 24 bit we can make p1 in a command 16 bit,
// allowing an accurate angle in centi-degrees. This keeps the
// storage cost per mission item at 15 bytes, and allows mission
// altitudes of up to +/- 83km
int32_t alt:24; ///< 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.
///
//@{
/* 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_PX4 0x04 // PX4 on NuttX
#define AP_PRODUCT_ID_PX4_V2 0x05 // PX4 FMU2 on NuttX
#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
#define AP_PRODUCT_ID_FLYMAPLE 0x100 // Flymaple with ITG3205, ADXL345, HMC5883, BMP085
#define AP_PRODUCT_ID_L3G4200D 0x101 // Linux with L3G4200D and ADXL345
#define AP_PRODUCT_ID_PIXHAWK_FIRE_CAPE 0x102 // Linux with the PixHawk Fire Cape
#define AP_PRODUCT_ID_MPU9250 0x103 // MPU9250
#define AP_PRODUCT_ID_VRBRAIN 0x150 // VRBRAIN on NuttX
#endif // _AP_COMMON_H