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GCS_MAVLink: merged upstream header changes

This commit is contained in:
Andrew Tridgell 2015-04-27 08:56:18 +10:00
parent 35874292a0
commit 4e86a6cd0e
5 changed files with 105 additions and 43 deletions
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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 Apr 24 07:12:12 2015"
#define MAVLINK_BUILD_DATE "Mon Apr 27 08:54:26 2015"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri Apr 24 07:12:15 2015"
#define MAVLINK_BUILD_DATE "Mon Apr 27 08:54:28 2015"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

134
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
View File

@ -206,8 +206,8 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
/**
* This is a convenience function which handles the complete MAVLink parsing.
* the function will parse one byte at a time and return the complete packet once
* it could be successfully decoded. Checksum and other failures will be silently
* ignored.
* it could be successfully decoded. This function will return 0, 1 or
* 2 (MAVLINK_FRAMING_INCOMPLETE, MAVLINK_FRAMING_OK or MAVLINK_FRAMING_BAD_CRC)
*
* Messages are parsed into an internal buffer (one for each channel). When a complete
* message is received it is copies into *returnMsg and the channel's status is
@ -221,7 +221,7 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
*
* @param returnMsg NULL if no message could be decoded, the message data else
* @param returnStats if a message was decoded, this is filled with the channel's stats
* @return 0 if no message could be decoded, 1 else
* @return 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC
*
* A typical use scenario of this function call is:
*
@ -235,7 +235,7 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
* while(serial.bytesAvailable > 0)
* {
* uint8_t byte = serial.getNextByte();
* if (mavlink_parse_char(chan, byte, &msg))
* if (mavlink_frame_char(chan, byte, &msg) != MAVLINK_FRAMING_INCOMPLETE)
* {
* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
* }
@ -244,7 +244,7 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
/*
default message crc function. You can override this per-system to
@ -274,7 +274,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
status->msg_received = 0;
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
switch (status->parse_state)
{
@ -366,51 +366,31 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
#endif
if (c != (rxmsg->checksum & 0xFF)) {
// Check first checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_BAD_CRC1;
} else {
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
break;
case MAVLINK_PARSE_STATE_GOT_CRC1:
if (c != (rxmsg->checksum >> 8)) {
// Check second checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:
if (status->parse_state == MAVLINK_PARSE_STATE_GOT_BAD_CRC1 || c != (rxmsg->checksum >> 8)) {
// got a bad CRC message
status->msg_received = MAVLINK_FRAMING_BAD_CRC;
} else {
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
status->msg_received = MAVLINK_FRAMING_OK;
}
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
break;
}
bufferIndex++;
// If a message has been sucessfully decoded, check index
if (status->msg_received == 1)
if (status->msg_received == MAVLINK_FRAMING_OK)
{
//while(status->current_seq != rxmsg->seq)
//{
@ -431,9 +411,83 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;
status->parse_error = 0;
if (status->msg_received == MAVLINK_FRAMING_BAD_CRC) {
/*
the CRC came out wrong. We now need to overwrite the
msg CRC with the one on the wire so that if the
caller decides to forward the message anyway that
mavlink_msg_to_send_buffer() won't overwrite the
checksum
*/
r_message->checksum = _MAV_PAYLOAD(rxmsg)[status->packet_idx] | (_MAV_PAYLOAD(rxmsg)[status->packet_idx+1]<<8);
}
return status->msg_received;
}
/**
* This is a convenience function which handles the complete MAVLink parsing.
* the function will parse one byte at a time and return the complete packet once
* it could be successfully decoded. This function will return 0 or 1.
*
* Messages are parsed into an internal buffer (one for each channel). When a complete
* message is received it is copies into *returnMsg and the channel's status is
* copied into *returnStats.
*
* @param chan ID of the current channel. This allows to parse different channels with this function.
* a channel is not a physical message channel like a serial port, but a logic partition of
* the communication streams in this case. COMM_NB is the limit for the number of channels
* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
* @param c The char to parse
*
* @param returnMsg NULL if no message could be decoded, the message data else
* @param returnStats if a message was decoded, this is filled with the channel's stats
* @return 0 if no message could be decoded or bad CRC, 1 on good message and CRC
*
* A typical use scenario of this function call is:
*
* @code
* #include <mavlink.h>
*
* mavlink_message_t msg;
* int chan = 0;
*
*
* while(serial.bytesAvailable > 0)
* {
* uint8_t byte = serial.getNextByte();
* if (mavlink_parse_char(chan, byte, &msg))
* {
* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
* }
* }
*
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
uint8_t msg_received = mavlink_frame_char(chan, c, r_message, r_mavlink_status);
if (msg_received == MAVLINK_FRAMING_BAD_CRC) {
// we got a bad CRC. Treat as a parse failure
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan);
mavlink_status_t* status = mavlink_get_channel_status(chan);
status->parse_error++;
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
return 0;
}
return msg_received;
}
/**
* @brief Put a bitfield of length 1-32 bit into the buffer
*

9
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h
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@ -200,9 +200,16 @@ typedef enum {
MAVLINK_PARSE_STATE_GOT_COMPID,
MAVLINK_PARSE_STATE_GOT_MSGID,
MAVLINK_PARSE_STATE_GOT_PAYLOAD,
MAVLINK_PARSE_STATE_GOT_CRC1
MAVLINK_PARSE_STATE_GOT_CRC1,
MAVLINK_PARSE_STATE_GOT_BAD_CRC1
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef enum {
MAVLINK_FRAMING_INCOMPLETE=0,
MAVLINK_FRAMING_OK=1,
MAVLINK_FRAMING_BAD_CRC=2
} mavlink_framing_t;
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns

1
libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h
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@ -65,6 +65,7 @@
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, 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_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
uint8_t* r_bit_index, uint8_t* buffer);