mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.7 KiB
C
129 lines
3.7 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// This is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License as published by the
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// Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version.
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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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// Get the common arduino functions
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#include "wiring.h"
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// ... and remove some of their stupid macros
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#undef round
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#undef abs
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#include <stdint.h>
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#include "include/menu.h" /// simple menu subsystem
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#include "c++.h" // c++ additions
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//#include "AP_Vector.h"
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//#include "AP_Loop.h"
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#include "AP_Var.h"
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////////////////////////////////////////////////////////////////////////////////
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/// @name Warning control
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//@{
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//
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// Turn on/off warnings of interest.
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//
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// These warnings are normally suppressed by the Arduino IDE,
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// but with some minor hacks it's possible to have warnings
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// emitted. This helps greatly when diagnosing subtle issues.
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//
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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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// 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_P 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 PRINTF_FORMAT_WARNING_DEBUG
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# undef PSTR
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# define PSTR(_x) _x // help the compiler with printf_P
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# define float double // silence spurious format warnings for %f
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#else
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// This is a workaround for GCC bug c++/34734.
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//
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// The C++ compiler normally emits many spurious warnings for the use
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// of PSTR (even though it generates correct code). This workaround
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// has an equivalent effect but avoids the warnings, which otherwise
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// make finding real issues difficult.
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//
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# undef PROGMEM
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# define PROGMEM __attribute__(( section(".progmem.data") ))
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# undef PSTR
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# define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];}))
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#endif
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//@}
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///
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/// @name Macros
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/// @{
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/// Define a constant string in program memory. This is a little more obvious
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/// and less error-prone than typing the declaration out by hand. It's required
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/// when passing PROGMEM strings to static object constructors because the PSTR
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/// hack can't be used at global scope.
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///
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#define PROGMEM_STRING(_v, _s) static const char _v[] PROGMEM = _s
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#define ToRad(x) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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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.
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///
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//@{
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struct Location {
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uint8_t id; ///< command id
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uint8_t p1; ///< param 1
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int32_t alt; ///< 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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////////////////////////////////////////////////////////////////////////////////
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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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/// XXX this should probably be replaced with radians()/degrees(), but their
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/// inclusion in wiring.h makes doing that here difficult.
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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#define ToRad(x) (x*0.01745329252) // *pi/180
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//@}
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#endif // _AP_COMMON_H
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