/*
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 <http://www.gnu.org/licenses/>.
*/
///
/// @file AP_Common.h
/// @brief Common definitions and utility routines for the ArduPilot
/// libraries.
///
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include <stdint.h>
#include <stdlib.h>
// used to pack structures
#define PACKED __attribute__((__packed__))
// used to mark a function that may be unused in some builds
#define UNUSED_FUNCTION __attribute__((unused))
// this can be used to optimize individual functions
#define OPTIMIZE(level) __attribute__((optimize(level)))
// sometimes we need to prevent inlining to prevent large stack usage
#define NOINLINE __attribute__((noinline))
#define FMT_PRINTF(a,b) __attribute__((format(printf, a, b)))
#define FMT_SCANF(a,b) __attribute__((format(scanf, a, b)))
#define ToRad(x) radians(x) // *pi/180
#define ToDeg(x) degrees(x) // *180/pi
/* Declare and implement const and non-const versions of the array subscript
* operator. The object is treated as an array of type_ values. */
#define DEFINE_BYTE_ARRAY_METHODS \
inline uint8_t &operator[](size_t i) { return reinterpret_cast<uint8_t *>(this)[i]; } \
inline uint8_t operator[](size_t i) const { return reinterpret_cast<const uint8_t *>(this)[i]; }
#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field
/*
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))
template <typename T, size_t N>
char (&_ARRAY_SIZE_HELPER(T (&_arr)[N]))[N];
template <typename T>
char (&_ARRAY_SIZE_HELPER(T (&_arr)[0]))[0];
#define ARRAY_SIZE(_arr) sizeof(_ARRAY_SIZE_HELPER(_arr))
/*
* See UNUSED_RESULT. The difference is that it receives @uniq_ as the name to
* be used for its internal variable.
*
* @uniq_: a unique name to use for variable name
* @expr_: the expression to be evaluated
*/
#define _UNUSED_RESULT(uniq_, expr_) \
do { \
decltype(expr_) uniq_ __attribute__((unused)); \
uniq_ = expr_; \
} while (0)
/*
* Allow to call a function annotated with warn_unused_result attribute
* without getting a warning, because sometimes this is what we want to do.
*
* @expr_: the expression to be evaluated
*/
#define UNUSED_RESULT(expr_) _UNUSED_RESULT(__unique_name_##__COUNTER__, expr_)
// @}
////////////////////////////////////////////////////////////////////////////////
/// @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: Change 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: Loiter crosstrack reference 0: WP center 1: Tangent exit point
/// 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
uint8_t origin_alt : 1; // this altitude is above ekf origin
uint8_t loiter_xtrack : 1; // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
};
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) see LOCATION_ALT_MAX_M
int32_t lat; ///< param 3 - Latitude * 10**7
int32_t lng; ///< param 4 - Longitude * 10**7
};
/*
home states. Used to record if user has overridden home position.
*/
enum HomeState {
HOME_UNSET, // home is unset, no GPS positions yet received
HOME_SET_NOT_LOCKED, // home is set to EKF origin or armed location (can be moved)
HOME_SET_AND_LOCKED // home has been set by user, cannot be moved except by user initiated do-set-home command
};
//@}
////////////////////////////////////////////////////////////////////////////////
/// @name Conversions
///
/// Conversion macros and factors.
///
//@{
/*
Return true if value is between lower and upper bound inclusive.
False otherwise.
*/
bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound);
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
#include <AP_HAL_QURT/replace.h>
#endif
/*
useful debugging macro for SITL
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define SITL_printf(fmt, args ...) do { ::printf("%s(%u): " fmt, __FILE__, __LINE__, ##args); } while(0)
#else
#define SITL_printf(fmt, args ...)
#endif