mirror of
https://github.com/ArduPilot/ardupilot
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6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
55 lines
1.9 KiB
C++
55 lines
1.9 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* AP_OLC is based on INAV olc.c implemention, thanks @fiam and other contributors.
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*/
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#pragma once
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#include <stdint.h>
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef HAL_PLUSCODE_ENABLE
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#define HAL_PLUSCODE_ENABLE HAL_PROGRAM_SIZE_LIMIT_KB > 1024
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#endif
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#if HAL_PLUSCODE_ENABLE
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class AP_OLC
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{
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public:
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// olc_encodes the given coordinates in lat and lon (deg * OLC_DEG_MULTIPLIER)
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// as an OLC code of the given length. It returns the number of characters
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// written to buf.
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static uint32_t olc_encode(int32_t lat, int32_t lon, uint8_t length, char *buf, uint8_t bufsize);
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private:
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static const int32_t INITIAL_EXPONENT;
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// Work out the enclosing resolution (in degrees) for the grid algorithm.
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static const int32_t GRID_SIZE;
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// Work out the initial resolution
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static const int32_t INITIAL_RESOLUTION;
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static constexpr char olc_alphabet[] = "23456789CFGHJMPQRVWX";
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static float compute_precision_for_length(uint8_t length);
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static int32_t adjust_latitude(int32_t lat, uint8_t code_len);
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static int32_t normalize_longitude(int32_t lon);
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static uint32_t encode_pairs(uint32_t lat, uint32_t lon, uint8_t length, char *buf, uint8_t bufsize);
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static int32_t encode_grid(uint32_t lat, uint32_t lon, uint8_t length, char *buf, uint8_t bufsize);
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};
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#endif
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