/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /// @file GCS_MAVLink.cpp /* This provides some support code and variables for MAVLink enabled sketches */ #include "GCS.h" #include "GCS_MAVLink.h" #include #include #include extern const AP_HAL::HAL& hal; #ifdef MAVLINK_SEPARATE_HELPERS // Shut up warnings about missing declarations; TODO: should be fixed on // mavlink/pymavlink project for when MAVLINK_SEPARATE_HELPERS is defined #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wmissing-declarations" #include "include/mavlink/v2.0/mavlink_helpers.h" #pragma GCC diagnostic pop #endif AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS]; bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS]; // per-channel lock static HAL_Semaphore chan_locks[MAVLINK_COMM_NUM_BUFFERS]; mavlink_system_t mavlink_system = {7,1}; // mask of serial ports disabled to allow for SERIAL_CONTROL static uint8_t mavlink_locked_mask; // routing table MAVLink_routing GCS_MAVLINK::routing; /* lock a channel, preventing use by MAVLink */ void GCS_MAVLINK::lock_channel(mavlink_channel_t _chan, bool lock) { if (!valid_channel(chan)) { return; } if (lock) { mavlink_locked_mask |= (1U<<(unsigned)_chan); } else { mavlink_locked_mask &= ~(1U<<(unsigned)_chan); } } // set a channel as private. Private channels get sent heartbeats, but // don't get broadcast packets or forwarded packets void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan) { const uint8_t mask = (1U<<(unsigned)_chan); mavlink_private |= mask; mavlink_active &= ~mask; } // return a MAVLink parameter type given a AP_Param type MAV_PARAM_TYPE mav_param_type(enum ap_var_type t) { if (t == AP_PARAM_INT8) { return MAV_PARAM_TYPE_INT8; } if (t == AP_PARAM_INT16) { return MAV_PARAM_TYPE_INT16; } if (t == AP_PARAM_INT32) { return MAV_PARAM_TYPE_INT32; } // treat any others as float return MAV_PARAM_TYPE_REAL32; } /// Check for available transmit space on the nominated MAVLink channel /// /// @param chan Channel to check /// @returns Number of bytes available uint16_t comm_get_txspace(mavlink_channel_t chan) { if (!valid_channel(chan)) { return 0; } if ((1U<txspace(); if (ret < 0) { ret = 0; } return (uint16_t)ret; } /// Check for available data on the nominated MAVLink channel /// /// @param chan Channel to check /// @returns Number of bytes available uint16_t comm_get_available(mavlink_channel_t chan) { if (!valid_channel(chan)) { return 0; } if ((1U<available(); if (bytes == -1) { return 0; } return (uint16_t)bytes; } /* send a buffer out a MAVLink channel */ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len) { if (!valid_channel(chan)) { return; } if (gcs_alternative_active[chan]) { // an alternative protocol is active return; } const size_t written = mavlink_comm_port[chan]->write(buf, len); #if CONFIG_HAL_BOARD == HAL_BOARD_SITL if (written < len) { AP_HAL::panic("Short write on UART: %lu < %u", written, len); } #else (void)written; #endif } /* lock a channel for send */ void comm_send_lock(mavlink_channel_t chan) { chan_locks[(uint8_t)chan].take_blocking(); } /* unlock a channel */ void comm_send_unlock(mavlink_channel_t chan) { chan_locks[(uint8_t)chan].give(); }