ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.h

103 lines
2.8 KiB
C
Raw Normal View History

/// @file GCS_MAVLink.h
/// @brief One size fits all header for MAVLink integration.
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
// we have separate helpers disabled to make it possible
// to select MAVLink 1.0 in the arduino GUI build
#define MAVLINK_SEPARATE_HELPERS
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// allow extra mavlink channels in SITL for:
// Vicon
#define MAVLINK_COMM_NUM_BUFFERS 6
#else
// allow five telemetry ports
#define MAVLINK_COMM_NUM_BUFFERS 5
#endif
/*
The MAVLink protocol code generator does its own alignment, so
alignment cast warnings can be ignored
*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
2016-01-11 18:22:05 -04:00
#include "include/mavlink/v2.0/ardupilotmega/version.h"
#define MAVLINK_MAX_PAYLOAD_LEN 255
2016-01-11 18:22:05 -04:00
#include "include/mavlink/v2.0/mavlink_types.h"
/// MAVLink stream used for uartA
extern AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
extern bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
/// MAVLink system definition
extern mavlink_system_t mavlink_system;
/// Sanity check MAVLink channel
///
/// @param chan Channel to send to
static inline bool valid_channel(mavlink_channel_t chan)
{
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wtautological-constant-out-of-range-compare"
2016-03-29 23:45:09 -03:00
return chan < MAVLINK_COMM_NUM_BUFFERS;
#pragma clang diagnostic pop
}
/// Send a byte to the nominated MAVLink channel
///
/// @param chan Channel to send to
/// @param ch Byte to send
///
static inline void comm_send_ch(mavlink_channel_t chan, uint8_t chr)
{
if (!valid_channel(chan)) {
return;
}
mavlink_comm_port[chan]->write(chr);
}
void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
/// Read a byte from the nominated MAVLink channel
///
/// @param chan Channel to receive on
/// @returns Byte read
///
uint8_t comm_receive_ch(mavlink_channel_t chan);
/// Check for available data on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
uint16_t comm_get_available(mavlink_channel_t chan);
/// Check for available transmit space on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
uint16_t comm_get_txspace(mavlink_channel_t chan);
/*
return true if the MAVLink parser is idle, so there is no partly parsed
MAVLink message being processed
*/
bool comm_is_idle(mavlink_channel_t chan);
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
2016-01-11 18:22:05 -04:00
#include "include/mavlink/v2.0/ardupilotmega/mavlink.h"
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);
#pragma GCC diagnostic pop