ardupilot/libraries/AP_Common/AP_Common.h

129 lines
3.7 KiB
C

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