mirror of https://github.com/ArduPilot/ardupilot
158 lines
5.9 KiB
C++
158 lines
5.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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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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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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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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// used to pack structures
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#define PACKED __attribute__((__packed__))
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// used to mark a function that may be unused in some builds
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#define UNUSED_FUNCTION __attribute__((unused))
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// this can be used to optimize individual functions
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#define OPTIMIZE(level) __attribute__((optimize(level)))
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// sometimes we need to prevent inlining to prevent large stack usage
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#define NOINLINE __attribute__((noinline))
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#define FORMAT(a,b) __attribute__((format(printf, a, b)))
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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 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 defined(PRINTF_FORMAT_WARNING_DEBUG)
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# define float double // silence spurious format warnings for %f
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#endif
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#define ToRad(x) radians(x) // *pi/180
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#define ToDeg(x) degrees(x) // *180/pi
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#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field
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/*
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check if bit bitnumber is set in value, returned as a
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bool. Bitnumber starts at 0 for the first bit
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*/
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#define BIT_IS_SET(value, bitnumber) (((value) & (1U<<(bitnumber))) != 0)
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// get high or low bytes from 2 byte integer
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#define LOWBYTE(i) ((uint8_t)(i))
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#define HIGHBYTE(i) ((uint8_t)(((uint16_t)(i))>>8))
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template <typename T, size_t N>
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char (&_ARRAY_SIZE_HELPER(T (&_arr)[N]))[N];
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template <typename T>
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char (&_ARRAY_SIZE_HELPER(T (&_arr)[0]))[0];
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#define ARRAY_SIZE(_arr) sizeof(_ARRAY_SIZE_HELPER(_arr))
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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: Direction of loiter command 0: Clockwise 1: Counter-Clockwise
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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 PACKED Location_Option_Flags {
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uint8_t relative_alt : 1; // 1 if altitude is relateive to home
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uint8_t unused1 : 1; // unused flag (defined so that loiter_ccw uses the correct bit)
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uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise
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uint8_t terrain_alt : 1; // this altitude is above terrain
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};
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struct PACKED Location {
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union {
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Location_Option_Flags flags; ///< options bitmask (1<<0 = relative altitude)
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uint8_t options; /// allows writing all flags to eeprom as one byte
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};
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// by making alt 24 bit we can make p1 in a command 16 bit,
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// allowing an accurate angle in centi-degrees. This keeps the
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// storage cost per mission item at 15 bytes, and allows mission
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// altitudes of up to +/- 83km
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int32_t alt:24; ///< 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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home states. Used to record if user has overridden home position.
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*/
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enum HomeState {
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HOME_UNSET, // home is unset, no GPS positions yet received
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HOME_SET_NOT_LOCKED, // home is set to EKF origin or armed location (can be moved)
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HOME_SET_AND_LOCKED // home has been set by user, cannot be moved except by user initiated do-set-home command
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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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/* 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_SITL 0x03 // Software in the loop
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#define AP_PRODUCT_ID_PX4 0x04 // PX4 on NuttX
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#define AP_PRODUCT_ID_PX4_V2 0x05 // PX4 FMU2 on NuttX
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#define AP_PRODUCT_ID_FLYMAPLE 0x100 // Flymaple with ITG3205, ADXL345, HMC5883, BMP085
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#define AP_PRODUCT_ID_L3G4200D 0x101 // Linux with L3G4200D and ADXL345
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#define AP_PRODUCT_ID_PIXHAWK_FIRE_CAPE 0x102 // Linux with the PixHawk Fire Cape
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#define AP_PRODUCT_ID_MPU9250 0x103 // MPU9250
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#define AP_PRODUCT_ID_VRBRAIN 0x150 // VRBRAIN on NuttX
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#endif // _AP_COMMON_H
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