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MAVLink: updates to mavlink headers to fix mavlink 1.0 issues

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This commit is contained in:
Andrew Tridgell 2012-06-04 13:34:07 +10:00
parent 13ae16e0c5
commit 1ad17bc78c
7 changed files with 44 additions and 5 deletions
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2
libraries/GCS_MAVLink/include/mavlink/v0.9/ardupilotmega/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
#define MAVLINK_BUILD_DATE "Mon Jun 4 13:31:56 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

2
libraries/GCS_MAVLink/include/mavlink/v0.9/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
#define MAVLINK_BUILD_DATE "Mon Jun 4 13:31:56 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

21
libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_helpers.h
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@ -23,7 +23,7 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
@ -133,6 +133,25 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief re-send a message over a uart channel
* this is more stack efficient than re-marshalling the message
*/
MAVLINK_HELPER void mavlink_uart_resend(mavlink_channel_t chan, const mavlink_message_t *msg)
{
uint8_t ck[2];
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
_mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
_mavlink_send_uart(chan, (const char *)ck, 2);
MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
}
/**
* @brief Pack a message to send it over a serial byte stream
*/

1
libraries/GCS_MAVLink/include/mavlink/v0.9/protocol.h
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@ -60,6 +60,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
#endif // MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
MAVLINK_HELPER void mavlink_uart_resend(mavlink_channel_t chan, const mavlink_message_t *msg);
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
#define MAVLINK_BUILD_DATE "Mon Jun 4 13:31:56 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
View File

@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
#define MAVLINK_BUILD_DATE "Mon Jun 4 13:31:56 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101

19
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
View File

@ -133,6 +133,25 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief re-send a message over a uart channel
* this is more stack efficient than re-marshalling the message
*/
MAVLINK_HELPER void mav_uart_resend(mavlink_channel_t chan, const mavlink_message_t *msg)
{
uint8_t ck[2];
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
_mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
_mavlink_send_uart(chan, ck, 2);
MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
}
/**
* @brief Pack a message to send it over a serial byte stream
*/