AP_Common.h File Reference

Common definitions and utility routines for the ArduPilot libraries. More...

#include <AP_HAL/AP_HAL_Boards.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>

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Classes
struct	Location_Option_Flags
struct	Location

Macros
#define	PACKED   __attribute__((__packed__))
#define	UNUSED_FUNCTION   __attribute__((unused))
#define	OPTIMIZE(level)   __attribute__((optimize(level)))
#define	NOINLINE   __attribute__((noinline))
#define	FMT_PRINTF(a, b)   __attribute__((format(printf, a, b)))
#define	FMT_SCANF(a, b)   __attribute__((format(scanf, a, b)))
#define	FALLTHROUGH
#define	ToRad(x)   radians(x)
#define	ToDeg(x)   degrees(x)
#define	DEFINE_BYTE_ARRAY_METHODS
#define	LOCATION_ALT_MAX_M   83000
#define	BIT_IS_SET(value, bitnumber)   (((value) & (1U<<(bitnumber))) != 0)
#define	LOWBYTE(i)   ((uint8_t)(i))
#define	HIGHBYTE(i)   ((uint8_t)(((uint16_t)(i))>>8))
#define	ARRAY_SIZE(_arr)   sizeof(_ARRAY_SIZE_HELPER(_arr))
#define	ARRAY_SIZE_SIMPLE(_arr)   (sizeof(_arr)/sizeof(_arr[0]))
#define	_UNUSED_RESULT(uniq_, expr_)
#define	UNUSED_RESULT(expr_)   _UNUSED_RESULT(__unique_name_##__COUNTER__, expr_)

Functions
template<typename T , size_t N>
char(&	_ARRAY_SIZE_HELPER (T(&_arr)[N]))[N]
template<typename T >
char(&	_ARRAY_SIZE_HELPER (T(&_arr)[0]))[0]

Conversions
Conversion macros and factors.
#define	SITL_printf(fmt, args ...)   do { ::printf("%s(%u): " fmt, __FILE__, __LINE__, ##args); } while(0)
bool	is_bounded_int32 (int32_t value, int32_t lower_bound, int32_t upper_bound)

Detailed Description

Common definitions and utility routines for the ArduPilot libraries.

Definition in file AP_Common.h.

Macro Definition Documentation

_UNUSED_RESULT

#define _UNUSED_RESULT	(		uniq_,
			expr_
	)

Value:

do {                                                  \
        decltype(expr_) uniq_ __attribute__((unused));    \
        uniq_ = expr_;                                    \
    } while (0)

Definition at line 92 of file AP_Common.h.

ARRAY_SIZE

#define ARRAY_SIZE

(

_arr

)

sizeof(_ARRAY_SIZE_HELPER(_arr))

Definition at line 80 of file AP_Common.h.

Referenced by SITL::Calibration::_calibration_poses(), AP_BattMonitor_Bebop::_compute_compensation(), HALSITL::SITL_State::_parse_command_line(), PX4::PX4AnalogSource::_pin_scaler(), VRBRAIN::VRBRAINAnalogSource::_pin_scaler(), HALSITL::SITL_State::_simulator_servos(), Linux::RCInput_Navio2::_timer_tick(), HALSITL::SITL_State::_update_gps_ubx(), accept_unsigned_callback(), AP_BoardConfig::board_setup_sbus(), AP_GPS_SBF::broadcast_configuration_failure_reason(), AP_GPS_UBLOX::broadcast_configuration_failure_reason(), AP_BattMonitor::convert_params(), AP_GPS::detect_instance(), Linux::RCOutput_Disco::disable_ch(), Linux::RCOutput_Disco::enable_ch(), SITL::Frame::find_frame(), SITL::FlightAxis::FlightAxis(), Linux::RCOutput_Disco::get_freq(), Linux::RCInput_Navio2::init(), AP_RAMTRON::init(), Linux::Scheduler::init(), AP_RangeFinder_VL53L0X::init(), AP_Airspeed_MS4525::init(), AP_Airspeed_SDP3X::init(), AP_Airspeed_MS5525::init(), AnalogSource_IIO::init_pins(), AP_GPS_SBF::is_configured(), F4Light::RCOutput::lateInit(), DataFlash_Class::Log_Write_Current_instance(), loop(), AP_GPS_SBF::parse(), Linux::RCOutput_PRU::push(), GCS_MAVLINK::push_deferred_messages(), AP_BoardConfig::px4_setup_pwm(), AP_BoardConfig::px4_start_driver(), AP_Arming::rc_checks_copter_sub(), AP_Compass_HIL::read(), Linux::RCOutput_Disco::read(), AP_GPS_SBF::read(), read_calibration_data(), GCS_MAVLINK::send_message(), Linux::RCOutput_Disco::set_freq(), SchedTest::setup(), DataFlashTest::setup(), setup(), DataFlashTest_AllTypes::setup(), AP_OpticalFlow_Pixart::setup_sensor(), AP_OpticalFlow_Pixart::srom_download(), AP_AutoTune::start(), test_conversions(), test_matrix_eulers(), test_offset(), test_passed_waypoint(), test_printf(), test_quaternion_eulers(), test_wrap_cd(), AP_OpticalFlow_SITL::update(), SRV_Channels::upgrade_motors_servo(), SRV_Channels::upgrade_parameters(), and Linux::RCOutput_Disco::write().

ARRAY_SIZE_SIMPLE

#define ARRAY_SIZE_SIMPLE

(

_arr

)

(sizeof(_arr)/sizeof(_arr[0]))

Definition at line 83 of file AP_Common.h.

Referenced by ChibiOS::GPIO::_attach_interrupt(), ChibiOS::SPIDevice::derive_freq_flag(), AP_ROMFS::find_file(), ChibiOS::I2CDeviceManager::get_device(), ChibiOS::SPIDeviceManager::get_device(), gpio_by_pin_num(), ChibiOS::I2CDeviceManager::I2CDeviceManager(), and ChibiOS::GPIO::init().

BIT_IS_SET

#define BIT_IS_SET	(		value,
			bitnumber
	)		(((value) & (1U<<(bitnumber))) != 0)

Definition at line 68 of file AP_Common.h.

DEFINE_BYTE_ARRAY_METHODS

#define DEFINE_BYTE_ARRAY_METHODS

Value:

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]; }

Definition at line 58 of file AP_Common.h.

FALLTHROUGH

#define FALLTHROUGH

Definition at line 50 of file AP_Common.h.

Referenced by AP_GPS_NMEA::_decode(), AP_GPS_MTK::_detect(), AP_GPS_SIRF::_detect(), AP_GPS_ERB::_detect(), AP_GPS_UBLOX::_detect(), AP_Baro_MS56XX::_init(), ChibiOS::UARTDriver::_timer_tick(), AP_RangeFinder_NMEA::decode(), AP_RangeFinder_LeddarOne::get_reading(), GCS_MAVLINK::handle_command_long_message(), GCS_MAVLINK::handle_common_message(), DataFlash_Class::handle_mavlink_msg(), print_vprintf(), DFMessageWriter_WriteSysInfo::process(), DFMessageWriter_WriteEntireMission::process(), DFMessageWriter_DFLogStart::process(), AP_GPS_ERB::read(), AP_GPS_SIRF::read(), AP_GPS_UBLOX::read(), VRBRAIN::VRBRAINRCOutput::set_output_mode(), PX4::PX4RCOutput::set_output_mode(), GCS_MAVLINK::try_send_message(), AP_TempCalibration::update(), and AP_Landing_Deepstall::verify_land().

FMT_PRINTF

#define FMT_PRINTF	(		a,
			b
	)		__attribute__((format(printf, a, b)))

Definition at line 39 of file AP_Common.h.

Referenced by Linux::Util::set_custom_storage_directory().

FMT_SCANF

#define FMT_SCANF	(		a,
			b
	)		__attribute__((format(scanf, a, b)))

Definition at line 40 of file AP_Common.h.

Referenced by Linux::Util::set_custom_storage_directory().

HIGHBYTE

#define HIGHBYTE

(

i

)

((uint8_t)(((uint16_t)(i))>>8))

Definition at line 72 of file AP_Common.h.

Referenced by AP_RangeFinder_LeddarOne::CRC16(), AP_Mission::mission_cmd_to_mavlink_int(), AP_Volz_Protocol::send_command(), test_high_low_byte(), and AP_Volz_Protocol::update().

LOCATION_ALT_MAX_M

#define LOCATION_ALT_MAX_M   83000

Definition at line 62 of file AP_Common.h.

Referenced by AP_Mission::mavlink_int_to_mission_cmd().

LOWBYTE

#define LOWBYTE

(

i

)

((uint8_t)(i))

Definition at line 71 of file AP_Common.h.

Referenced by AP_RangeFinder_LeddarOne::CRC16(), AP_Mission::mission_cmd_to_mavlink_int(), AP_Volz_Protocol::send_command(), test_high_low_byte(), and AP_Volz_Protocol::update().

NOINLINE

#define NOINLINE   __attribute__((noinline))

Definition at line 37 of file AP_Common.h.

OPTIMIZE

#define OPTIMIZE

(

level

)

__attribute__((optimize(level)))

Definition at line 34 of file AP_Common.h.

PACKED

#define PACKED   __attribute__((__packed__))

Definition at line 28 of file AP_Common.h.

Referenced by Linux::RCOutput_AeroIO::_hw_read(), Linux::RCOutput_AeroIO::_hw_write(), AP_Compass_BMM150::_load_trim_values(), AP_Compass_LSM303D::_read_sample(), Linux::OpticalFlow_Onboard::_run_optflow(), Linux::RCOutput_Bebop::_set_ref_speed(), AP_ADC_ADS1115::_start_conversion(), Display_SH1106_I2C::_timer(), Display_SSD1306_I2C::_timer(), HALSITL::SITL_State::_update_gps_mtk(), HALSITL::SITL_State::_update_gps_mtk16(), HALSITL::SITL_State::_update_gps_mtk19(), HALSITL::SITL_State::_update_gps_nova(), HALSITL::SITL_State::_update_gps_sbp(), HALSITL::SITL_State::_update_gps_sbp2(), HALSITL::SITL_State::_update_gps_ubx(), Display_SH1106_I2C::hw_init(), Display_SSD1306_I2C::hw_init(), RC_UART::loop(), Linux::RCOutput_Bebop::play_note(), Linux::RCOutput_PCA9685::push(), Linux::RCOutput_Bebop::read_obs_data(), SITL::XPlane::select_data(), SITL::XPlane::send_data(), SITL::XPlane::send_dref(), AP_Compass_IST8310::timer(), AP_Compass_QMC5883L::timer(), AP_Compass_LIS3MDL::timer(), and AP_Compass_AK09916::timer().

SITL_printf

#define SITL_printf	(		fmt,
			args ...
	)		do { ::printf("%s(%u): " fmt, __FILE__, __LINE__, ##args); } while(0)

Definition at line 167 of file AP_Common.h.

ToDeg

#define ToDeg

(

x

)

degrees(x)

Definition at line 54 of file AP_Common.h.

Referenced by AP_PitchController::_get_coordination_rate_offset(), AP_PitchController::_get_rate_out(), AP_RollController::_get_rate_out(), AP_InertialSensor::_init_gyro(), HALSITL::SITL_State::_update_gps_mtk(), HALSITL::SITL_State::_update_gps_mtk16(), HALSITL::SITL_State::_update_gps_mtk19(), HALSITL::SITL_State::_update_gps_nmea(), HALSITL::SITL_State::_update_gps_nova(), HALSITL::SITL_State::_update_gps_ubx(), check_result(), AC_AttitudeControl::get_althold_lean_angle_max(), AP_YawController::get_servo_out(), AP_SteerController::get_steering_out_lat_accel(), AP_SteerController::get_steering_out_rate(), AP_GPS_SBF::log_ExtEventPVTGeodetic(), loop(), AP_Mount_SToRM32::status_msg(), test_rotation_accuracy(), AP_Mount_SToRM32_serial::update(), and AP_Mount_SToRM32::update().

ToRad

#define ToRad

(

x

)

radians(x)

Definition at line 53 of file AP_Common.h.

Referenced by AP_InertialSensor::_init_gyro(), AP_AHRS_DCM::_P_gain(), Compass::_setup_earth_field(), AC_WPNav::AC_WPNav(), AP_AHRS::add_trim(), AP_Mount_Backend::calc_angle_to_location(), AC_Circle::calc_velocities(), check_result(), SITL::SITL::convert_body_frame(), AP_AHRS_DCM::drift_correction(), AP_AHRS_DCM::drift_correction_yaw(), AP_InertialSensor_SITL::generate_gyro(), AP_InertialSensor::get_gyro_drift_rate(), AP_SteerController::get_steering_out_rate(), AP_InertialSensor_SITL::gyro_drift(), missing_rotations(), AC_PosControl::run_xy_controller(), AC_Loiter::sanity_check_params(), AP_AHRS::set_trim(), setup(), SITL::SITL::simstate_send(), test_frame_transforms(), test_quaternion_eulers(), test_rotation_accuracy(), CompassLearn::update(), AP_Mount_SToRM32_serial::update(), AP_Mount_SToRM32::update(), and SITL::Aircraft::update_mag_field_bf().

UNUSED_FUNCTION

#define UNUSED_FUNCTION   __attribute__((unused))

Definition at line 31 of file AP_Common.h.

UNUSED_RESULT

#define UNUSED_RESULT

(

expr_

)

_UNUSED_RESULT(__unique_name_##__COUNTER__, expr_)

Definition at line 104 of file AP_Common.h.

Referenced by AP_Follow::handle_msg().

Function Documentation

_ARRAY_SIZE_HELPER() [1/2]

template<typename T , size_t N>

char(& _ARRAY_SIZE_HELPER

(

T(&)

_arr[N]

)

)[N]

_ARRAY_SIZE_HELPER() [2/2]

template<typename T >

char(& _ARRAY_SIZE_HELPER

(

T(&)

_arr[0]

)

)[0]

is_bounded_int32()

bool is_bounded_int32	(	int32_t	value,
		int32_t	lower_bound,
		int32_t	upper_bound
	)

Definition at line 29 of file AP_Common.cpp.

Referenced by RC_Channel::in_trim_dz().

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