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GCS_MAVLink: update from upstream headers

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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
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75
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.
* 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)
* This is a varient of mavlink_frame_char() but with caller supplied
* parsing buffers. It is useful when you want to create a MAVLink
* parser in a library that doesn't use any global variables
*
* 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 rxmsg parsing message buffer
* @param status parsing starus buffer
* @param c The char to parse
*
* @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
*/
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
@ -270,8 +267,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_messa
#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;
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;
}
/**
* 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.

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 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_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_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,