Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: update from upstream headers

Browse Source
This commit is contained in:
Andrew Tridgell 2015-05-25 12:11:58 +10:00
parent 9f09ac64cf
commit 958d8b4787
2 changed files with 71 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

87
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
View File

@ -204,19 +204,12 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
} }
/** /**
* This is a convenience function which handles the complete MAVLink parsing. * This is a varient of mavlink_frame_char() but with caller supplied
* the function will parse one byte at a time and return the complete packet once * parsing buffers. It is useful when you want to create a MAVLink
* it could be successfully decoded. This function will return 0, 1 or * parser in a library that doesn't use any global variables
* 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 * @param rxmsg parsing message buffer
* message is received it is copies into *returnMsg and the channel's status is * @param status parsing starus buffer
* 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 c The char to parse
* *
* @param returnMsg NULL if no message could be decoded, the message data else * @param returnMsg NULL if no message could be decoded, the message data else
@ -244,7 +237,11 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
* *
* @endcode * @endcode
*/ */
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_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_status_t* status,
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 default message crc function. You can override this per-system to
@ -257,12 +254,12 @@ MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_messa
#endif #endif
#endif #endif
/* Enable this option to check the length of each message. /* Enable this option to check the length of each message.
This allows invalid messages to be caught much sooner. Use if the transmission This allows invalid messages to be caught much sooner. Use if the transmission
medium is prone to missing (or extra) characters (e.g. a radio that fades in medium is prone to missing (or extra) characters (e.g. a radio that fades in
and out). Only use if the channel will only contain messages types listed in and out). Only use if the channel will only contain messages types listed in
the headers. the headers.
*/ */
#ifdef MAVLINK_CHECK_MESSAGE_LENGTH #ifdef MAVLINK_CHECK_MESSAGE_LENGTH
#ifndef MAVLINK_MESSAGE_LENGTH #ifndef MAVLINK_MESSAGE_LENGTH
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS; static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
@ -270,8 +267,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_messa
#endif #endif
#endif #endif
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0; int bufferIndex = 0;
status->msg_received = MAVLINK_FRAMING_INCOMPLETE; status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
@ -426,6 +421,56 @@ MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_messa
return status->msg_received; 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, 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
* 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, 1 on good message and CRC, 2 on bad 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_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);
* }
* }
*
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
return mavlink_frame_char_buffer(mavlink_get_channel_buffer(chan),
mavlink_get_channel_status(chan),
c,
r_message,
r_mavlink_status);
}
/** /**
* This is a convenience function which handles the complete MAVLink parsing. * This is a convenience function which handles the complete MAVLink parsing.

5
libraries/GCS_MAVLink/include/mavlink/v1.0/protocol.h
View File

@ -65,6 +65,11 @@
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); 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_start_checksum(mavlink_message_t* msg);
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_status_t* status,
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); 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 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, MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,