mirror of https://github.com/ArduPilot/ardupilot
138 lines
4.5 KiB
C++
138 lines
4.5 KiB
C++
/*
|
|
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 <stdint.h>
|
|
#include <stdlib.h>
|
|
|
|
// used to pack structures
|
|
#define PACKED __attribute__((__packed__))
|
|
|
|
// used to weaken symbols
|
|
#define WEAK __attribute__((__weak__))
|
|
|
|
// 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)))
|
|
|
|
#ifdef __has_cpp_attribute
|
|
# if __has_cpp_attribute(fallthrough)
|
|
# define FALLTHROUGH [[fallthrough]]
|
|
# elif __has_cpp_attribute(gnu::fallthrough)
|
|
# define FALLTHROUGH [[gnu::fallthrough]]
|
|
# endif
|
|
#endif
|
|
#ifndef FALLTHROUGH
|
|
# define FALLTHROUGH
|
|
#endif
|
|
|
|
#ifdef __GNUC__
|
|
#define WARN_IF_UNUSED __attribute__ ((warn_unused_result))
|
|
#else
|
|
#define WARN_IF_UNUSED
|
|
#endif
|
|
|
|
#define NORETURN __attribute__ ((noreturn))
|
|
|
|
#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]; }
|
|
|
|
/*
|
|
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))
|
|
|
|
#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
|
|
|
|
#define UINT16_VALUE(hbyte, lbyte) (static_cast<uint16_t>((hbyte<<8)|lbyte))
|
|
|
|
/*
|
|
* 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_)
|
|
|
|
// @}
|
|
|
|
|
|
// assert_storage_size template: assert that the memory used to store an
|
|
// item is of a specific size.
|
|
// example invocation:
|
|
// assert_storage_size<class Location, 16> _assert_storage_size_Location;
|
|
// templates are used for this because the compiler's output will
|
|
// usually contain details of the template instantiation so you can
|
|
// see how the actual size differs from the expected size.
|
|
template<typename s, size_t s_size, size_t t> struct _assert_storage_size {
|
|
static_assert(s_size == t, "wrong size");
|
|
};
|
|
template<typename s, size_t t> struct assert_storage_size {
|
|
_assert_storage_size<s, sizeof(s), t> _member;
|
|
};
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
/// @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);
|
|
|
|
bool hex_to_uint8(uint8_t a, uint8_t &res); // return the uint8 value of an ascii hex character
|