德国Autoquad飞控源码，采用UKF滤波估计方法

/*----------------------------------------------------------------------------/ / FatFs - FAT file system module R0.08a (C)ChaN, 2010 /-----------------------------------------------------------------------------/ / FatFs module is a generic FAT file system module for small embedded systems. / This is a free software that opened for education, research and commercial / developments under license policy of following terms. / / Copyright (C) 2010, ChaN, all right reserved. / / * The FatFs module is a free software and there is NO WARRANTY. / * No restriction on use. You can use, modify and redistribute it for / personal, non-profit or commercial products UNDER YOUR RESPONSIBILITY. / * Redistributions of source code must retain the above copyright notice. / /-----------------------------------------------------------------------------/ / Feb 26,'06 R0.00 Prototype. / / Apr 29,'06 R0.01 First stable version. / / Jun 01,'06 R0.02 Added FAT12 support. / Removed unbuffered mode. / Fixed a problem on small (<32M) partition. / Jun 10,'06 R0.02a Added a configuration option (_FS_MINIMUM). / / Sep 22,'06 R0.03 Added f_rename(). / Changed option _FS_MINIMUM to _FS_MINIMIZE. / Dec 11,'06 R0.03a Improved cluster scan algorithm to write files fast. / Fixed f_mkdir() creates incorrect directory on FAT32. / / Feb 04,'07 R0.04 Supported multiple drive system. / Changed some interfaces for multiple drive system. / Changed f_mountdrv() to f_mount(). / Added f_mkfs(). / Apr 01,'07 R0.04a Supported multiple partitions on a physical drive. / Added a capability of extending file size to f_lseek(). / Added minimization level 3. / Fixed an endian sensitive code in f_mkfs(). / May 05,'07 R0.04b Added a configuration option _USE_NTFLAG. / Added FSInfo support. / Fixed DBCS name can result FR_INVALID_NAME. / Fixed short seek (<= csize) collapses the file object. / / Aug 25,'07 R0.05 Changed arguments of f_read(), f_write() and f_mkfs(). / Fixed f_mkfs() on FAT32 creates incorrect FSInfo. / Fixed f_mkdir() on FAT32 creates incorrect directory. / Feb 03,'08 R0.05a Added f_truncate() and f_utime(). / Fixed off by one error at FAT sub-type determination. / Fixed btr in f_read() can be mistruncated. / Fixed cached sector is not flushed when create and close without write. / / Apr 01,'08 R0.06 Added fputc(), fputs(), fprintf() and fgets(). / Improved performance of f_lseek() on moving to the same or following cluster. / / Apr 01,'09 R0.07 Merged Tiny-FatFs as a buffer configuration option. (_FS_TINY) / Added long file name support. / Added multiple code page support. / Added re-entrancy for multitask operation. / Added auto cluster size selection to f_mkfs(). / Added rewind option to f_readdir(). / Changed result code of critical errors. / Renamed string functions to avoid name collision. / Apr 14,'09 R0.07a Separated out OS dependent code on reentrant cfg. / Added multiple sector size support. / Jun 21,'09 R0.07c Fixed f_unlink() can return FR_OK on error. / Fixed wrong cache control in f_lseek(). / Added relative path feature. / Added f_chdir() and f_chdrive(). / Added proper case conversion to extended char. / Nov 03,'09 R0.07e Separated out configuration options from ff.h to ffconf.h. / Fixed f_unlink() fails to remove a sub-dir on _FS_RPATH. / Fixed name matching error on the 13 char boundary. / Added a configuration option, _LFN_UNICODE. / Changed f_readdir() to return the SFN with always upper case on non-LFN cfg. / / May 15,'10 R0.08 Added a memory configuration option. (_USE_LFN = 3) / Added file lock feature. (_FS_SHARE) / Added fast seek feature. (_USE_FASTSEEK) / Changed some types on the API, XCHAR->TCHAR. / Changed fname member in the FILINFO structure on Unicode cfg. / String functions support UTF-8 encoding files on Unicode cfg. / Aug 16,'10 R0.08a Added f_getcwd(). (_FS_RPATH = 2) / Added sector erase feature. (_USE_ERASE) / Moved file lock semaphore table from fs object to the bss. / Fixed a wrong directory entry is created on non-LFN cfg when the given name contains ';'. / Fixed f_mkfs() creates wrong FAT32 volume. /---------------------------------------------------------------------------*/ #include "ff.h" /* FatFs configurations and declarations */ #include "diskio.h" /* Declarations of low level disk I/O functions */ /*-------------------------------------------------------------------------- Module Private Definitions ---------------------------------------------------------------------------*/ #if _FATFS != 8255 #error Wrong include file (ff.h). #endif /* Definitions on sector size */ #if _MAX_SS != 512 && _MAX_SS != 1024 && _MAX_SS != 2048 && _MAX_SS != 4096 #error Wrong sector size. #endif #if _MAX_SS != 512 #define SS(fs) ((fs)->ssize) /* Multiple sector size */ #else #define SS(fs) 512U /* Fixed sector size */ #endif /* Reentrancy related */ #if _FS_REENTRANT #if _USE_LFN == 1 #error Static LFN work area must not be used in re-entrant configuration. #endif #define ENTER_FF(fs) { if (!lock_fs(fs)) return FR_TIMEOUT; } #define LEAVE_FF(fs, res) { unlock_fs(fs, res); return res; } #else #define ENTER_FF(fs) #define LEAVE_FF(fs, res) return res #endif #define ABORT(fs, res) { fp->flag |= FA__ERROR; LEAVE_FF(fs, res); } /* File shareing feature */ #if _FS_SHARE #if _FS_READONLY #error _FS_SHARE must be 0 on read-only cfg. #endif typedef struct { FATFS *fs; /* File ID 1, volume (NULL:blank entry) */ DWORD clu; /* File ID 2, directory */ WORD idx; /* File ID 3, directory index */ WORD ctr; /* File open counter, 0:none, 0x01..0xFF:read open count, 0x100:write mode */ } FILESEM; #endif /* Misc definitions */ #define LD_CLUST(dir) (((DWORD)LD_WORD(dir+DIR_FstClusHI)<<16) | LD_WORD(dir+DIR_FstClusLO)) #define ST_CLUST(dir,cl) {ST_WORD(dir+DIR_FstClusLO, cl); ST_WORD(dir+DIR_FstClusHI, (DWORD)cl>>16);} /* Character code support macros */ #define IsUpper(c) (((c)>='A')&&((c)<='Z')) #define IsLower(c) (((c)>='a')&&((c)<='z')) #define IsDigit(c) (((c)>='0')&&((c)<='9')) #if _DF1S /* Code page is DBCS */ #ifdef _DF2S /* Two 1st byte areas */ #define IsDBCS1(c) (((BYTE)(c) >= _DF1S && (BYTE)(c) <= _DF1E) || ((BYTE)(c) >= _DF2S && (BYTE)(c) <= _DF2E)) #else /* One 1st byte area */ #define IsDBCS1(c) ((BYTE)(c) >= _DF1S && (BYTE)(c) <= _DF1E) #endif #ifdef _DS3S /* Three 2nd byte areas */ #define IsDBCS2(c) (((BYTE)(c) >= _DS1S && (BYTE)(c) <= _DS1E) || ((BYTE)(c) >= _DS2S && (BYTE)(c) <= _DS2E) || ((BYTE)(c) >= _DS3S && (BYTE)(c) <= _DS3E)) #else /* Two 2nd byte areas */ #define IsDBCS2(c) (((BYTE)(c) >= _DS1S && (BYTE)(c) <= _DS1E) || ((BYTE)(c) >= _DS2S && (BYTE)(c) <= _DS2E)) #endif #else /* Code page is SBCS */ #define IsDBCS1(c) 0 #define IsDBCS2(c) 0 #endif /* _DF1S */ /* Name status flags */ #define NS 11 /* Offset of name status byte */ #define NS_LOSS 0x01 /* Out of 8.3 format */ #define NS_LFN 0x02 /* Force to create LFN entry */ #define NS_LAST 0x04 /* Last segment */ #define NS_BODY 0x08 /* Lower case flag (body) */ #define NS_EXT 0x10 /* Lower case flag (ext) */ #define NS_DOT 0x20 /* Dot entry */ /* FAT sub-type boundaries */ /* Note that the FAT spec by Microsoft says 4085 but Windows