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Library wrapper for MAVLink protocol bits.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@924 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-11-25 06:38:18 +00:00
parent 0037b40329
commit 7582353b08
2 changed files with 91 additions and 0 deletions
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12
libraries/GCS_MAVLink/GCS_MAVLink.cpp Normal file
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file GCS_MAVLink.cpp
/// @brief Supporting bits for MAVLink.
#include "GCS_MAVLink.h"
Stream *mavlink_comm_0_port;
Stream *mavlink_comm_1_port;
// this might need to move to the flight software
mavlink_system_t mavlink_system = {7,1,0,0};

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libraries/GCS_MAVLink/GCS_MAVLink.h Normal file
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file GCS_MAVLink.h
/// @brief One size fits all header for MAVLink integration.
#ifndef GCS_MAVLink_h
#define GCS_MAVlink_h
#include <Stream.h>
#include "include/mavlink_types.h"
/// MAVLink stream used for HIL interaction
extern Stream *mavlink_comm_0_port;
/// MAVLink stream used for ground control communication
extern Stream *mavlink_comm_1_port;
/// MAVLink system definition
extern mavlink_system_t mavlink_system;
/// 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 ch)
{
switch(chan) {
case MAVLINK_COMM_0:
mavlink_comm_0_port->write(ch);
break;
case MAVLINK_COMM_1:
mavlink_comm_1_port->write(ch);
break;
}
}
/// Read a byte from the nominated MAVLink channel
///
/// @param chan Channel to receive on
/// @returns Byte read
///
static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
{
uint8_t data = 0;
switch(chan) {
case MAVLINK_COMM_0:
data = mavlink_comm_0_port->read();
break;
case MAVLINK_COMM_1:
data = mavlink_comm_1_port->read();
break;
}
return data;
}
/// Check for available data on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
static inline uint16_t comm_get_available(mavlink_channel_t chan)
{
uint16_t bytes = 0;
switch(chan) {
case MAVLINK_COMM_0:
bytes = mavlink_comm_0_port->available();
break;
case MAVLINK_COMM_1:
bytes = mavlink_comm_1_port->available();
break;
}
return bytes;
}
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/ardupilotmega/mavlink.h"
#endif // GCS_MAVLink_h