Class providing protocol en/decoding services for the ArduPilot Mega binary telemetry protocol. More...

#include <APM_BinComm.h>

Collaboration diagram for BinComm:

Classes
union	_binCommBufferSizer
struct	MessageHandler
struct	MessageHeader
	OTA message header.
struct	msg_acknowledge
	Structure describing the payload section of the MSG_ACKNOWLEDGE message. More...
struct	msg_attitude
	Structure describing the payload section of the MSG_ATTITUDE message. More...
struct	msg_attitude_correct
	Structure describing the payload section of the MSG_ATTITUDE_CORRECT message. More...
struct	msg_attitude_set
	Structure describing the payload section of the MSG_ATTITUDE_SET message. More...
struct	msg_command_list
	Structure describing the payload section of the MSG_COMMAND_LIST message. More...
struct	msg_command_mode_change
	Structure describing the payload section of the MSG_COMMAND_MODE_CHANGE message. More...
struct	msg_command_request
	Structure describing the payload section of the MSG_COMMAND_REQUEST message. More...
struct	msg_command_upload
	Structure describing the payload section of the MSG_COMMAND_UPLOAD message. More...
struct	msg_dataflash_request
	Structure describing the payload section of the MSG_DATAFLASH_REQUEST message. More...
struct	msg_dataflash_set
	Structure describing the payload section of the MSG_DATAFLASH_SET message. More...
struct	msg_eeprom_request
	Structure describing the payload section of the MSG_EEPROM_REQUEST message. More...
struct	msg_eeprom_set
	Structure describing the payload section of the MSG_EEPROM_SET message. More...
struct	msg_heartbeat
	Structure describing the payload section of the MSG_HEARTBEAT message. More...
struct	msg_location
	Structure describing the payload section of the MSG_LOCATION message. More...
struct	msg_perf_report
	Structure describing the payload section of the MSG_PERF_REPORT message. More...
struct	msg_pid
	Structure describing the payload section of the MSG_PID message. More...
struct	msg_pid_request
	Structure describing the payload section of the MSG_PID_REQUEST message. More...
struct	msg_pid_set
	Structure describing the payload section of the MSG_PID_SET message. More...
struct	msg_pin_request
	Structure describing the payload section of the MSG_PIN_REQUEST message. More...
struct	msg_pin_set
	Structure describing the payload section of the MSG_PIN_SET message. More...
struct	msg_position_correct
	Structure describing the payload section of the MSG_POSITION_CORRECT message. More...
struct	msg_position_set
	Structure describing the payload section of the MSG_POSITION_SET message. More...
struct	msg_pressure
	Structure describing the payload section of the MSG_PRESSURE message. More...
struct	msg_radio_out
	Structure describing the payload section of the MSG_RADIO_OUT message. More...
struct	msg_sensor
	Structure describing the payload section of the MSG_SENSOR message. More...
struct	msg_servo_out
	Structure describing the payload section of the MSG_SERVO_OUT message. More...
struct	msg_status_text
	Structure describing the payload section of the MSG_STATUS_TEXT message. More...
struct	msg_trim_max
	Structure describing the payload section of the MSG_TRIM_MAX message. More...
struct	msg_trim_min
	Structure describing the payload section of the MSG_TRIM_MIN message. More...
struct	msg_trim_startup
	Structure describing the payload section of the MSG_TRIM_STARTUP message. More...
struct	msg_value
	Structure describing the payload section of the MSG_VALUE message. More...
struct	msg_value_request
	Structure describing the payload section of the MSG_VALUE_REQUEST message. More...
struct	msg_value_set
	Structure describing the payload section of the MSG_VALUE_SET message. More...
struct	msg_version
	Structure describing the payload section of the MSG_VERSION message. More...
struct	msg_version_request
	Structure describing the payload section of the MSG_VERSION_REQUEST message. More...
Public Types
enum	MessageID { MSG_PID = 0x42, MSG_DATAFLASH_REQUEST = 0x90, MSG_DATAFLASH_SET = 0x91, MSG_SENSOR = 0x60, MSG_VALUE_REQUEST = 0x30, MSG_VALUE_SET = 0x31, MSG_VALUE = 0x32, MSG_PIN_REQUEST = 0x80, MSG_PIN_SET = 0x81, MSG_POSITION_CORRECT = 0xb0, MSG_ACKNOWLEDGE = 0x0, MSG_ATTITUDE_CORRECT = 0xb1, MSG_HEARTBEAT = 0x1, MSG_POSITION_SET = 0xb2, MSG_ATTITUDE = 0x2, MSG_ATTITUDE_SET = 0xb3, MSG_LOCATION = 0x3, MSG_PRESSURE = 0x4, MSG_TRIM_STARTUP = 0x50, MSG_STATUS_TEXT = 0x5, MSG_TRIM_MIN = 0x51, MSG_PERF_REPORT = 0x6, MSG_TRIM_MAX = 0x52, MSG_VERSION_REQUEST = 0x7, MSG_RADIO_OUT = 0x53, MSG_VERSION = 0x8, MSG_COMMAND_REQUEST = 0x20, MSG_COMMAND_UPLOAD = 0x21, MSG_COMMAND_LIST = 0x22, MSG_COMMAND_MODE_CHANGE = 0x23, MSG_SERVO_OUT = 0x70, MSG_EEPROM_REQUEST = 0xa0, MSG_EEPROM_SET = 0xa1, MSG_PID_REQUEST = 0x40, MSG_PID_SET = 0x41, MSG_ANY = 0xfe, MSG_NULL = 0xff }
Protocol magic numbers
Note: The MessageID enum is automatically generated and thus not described here.
enum	severities { SEVERITY_LOW = 1, SEVERITY_MEDIUM = 2, SEVERITY_HIGH = 3, SEVERITY_CRITICAL = 4 }
	Message serverities. More...
enum	variableID { MSG_VAR_ROLL_MODE = 0x00, MSG_VAR_PITCH_MODE = 0x01, MSG_VAR_THROTTLE_MODE = 0x02, MSG_VAR_YAW_MODE = 0x03, MSG_VAR_ELEVON_TRIM_1 = 0x04, MSG_VAR_ELEVON_TRIM_2 = 0x05, MSG_VAR_INTEGRATOR_0 = 0x10, MSG_VAR_INTEGRATOR_1 = 0x11, MSG_VAR_INTEGRATOR_2 = 0x12, MSG_VAR_INTEGRATOR_3 = 0x13, MSG_VAR_INTEGRATOR_4 = 0x14, MSG_VAR_INTEGRATOR_5 = 0x15, MSG_VAR_INTEGRATOR_6 = 0x16, MSG_VAR_INTEGRATOR_7 = 0x17, MSG_VAR_KFF_0 = 0x1a, MSG_VAR_KFF_1 = 0x1b, MSG_VAR_KFF_2 = 0x1c, MSG_VAR_TARGET_BEARING = 0x20, MSG_VAR_NAV_BEARING = 0x21, MSG_VAR_BEARING_ERROR = 0x22, MSG_VAR_CROSSTRACK_BEARING = 0x23, MSG_VAR_CROSSTRACK_ERROR = 0x24, MSG_VAR_ALTITUDE_ERROR = 0x25, MSG_VAR_WP_RADIUS = 0x26, MSG_VAR_LOITER_RADIUS = 0x27, MSG_VAR_WP_MODE = 0x28, MSG_VAR_LOOP_COMMANDS = 0x29, MSG_VAR_NAV_GAIN_SCALER = 0x2a }
enum	PIDSet { MSG_SERVO_ROLL = 0, MSG_SERVO_PITCH = 1, MSG_SERVO_RUDDER = 2, MSG_SERVO_NAV_ROLL = 3, MSG_SERVO_NAV_PITCH_ASP = 4, MSG_SERVO_NAV_PITCH_ALT = 5, MSG_SERVO_TE_THROTTLE = 6, MSG_SERVO_ALT_THROTTLE = 7, MSG_SERVO_ELEVATOR = 8 }
	PID sets defined. More...
Public Member Functions
	BinComm (const MessageHandler handlerTable, Stream interface=NULL)
void	init (Stream *interface)
MSG_ACKNOWLEDGE

void	send_msg_acknowledge (const uint8_t msgID, const uint8_t sum1, const uint8_t sum2)
	Send a MSG_ACKNOWLEDGE message.
void	unpack_msg_acknowledge (uint8_t &msgID, uint8_t &sum1, uint8_t &sum2)
	Unpack a MSG_ACKNOWLEDGE message.
MSG_STATUS_TEXT

void	send_msg_status_text (const uint8_t severity, const char(&text)[50])
	Send a MSG_STATUS_TEXT message.
void	unpack_msg_status_text (uint8_t &severity, char(&text)[50])
	Unpack a MSG_STATUS_TEXT message.
MSG_HEARTBEAT

void	send_msg_heartbeat (const uint8_t flightMode, const uint16_t timeStamp, const uint16_t batteryVoltage, const uint16_t commandIndex)
	Send a MSG_HEARTBEAT message.
void	unpack_msg_heartbeat (uint8_t &flightMode, uint16_t &timeStamp, uint16_t &batteryVoltage, uint16_t &commandIndex)
	Unpack a MSG_HEARTBEAT message.
MSG_ATTITUDE

void	send_msg_attitude (const int16_t roll, const int16_t pitch, const uint16_t yaw)
	Send a MSG_ATTITUDE message.
void	unpack_msg_attitude (int16_t &roll, int16_t &pitch, uint16_t &yaw)
	Unpack a MSG_ATTITUDE message.
MSG_LOCATION

void	send_msg_location (const int32_t latitude, const int32_t longitude, const int32_t altitude, const uint16_t groundSpeed, const uint16_t groundCourse, const uint32_t timeOfWeek)
	Send a MSG_LOCATION message.
void	unpack_msg_location (int32_t &latitude, int32_t &longitude, int32_t &altitude, uint16_t &groundSpeed, uint16_t &groundCourse, uint32_t &timeOfWeek)
	Unpack a MSG_LOCATION message.
MSG_PRESSURE

void	send_msg_pressure (const int32_t pressureAltitude, const int16_t airSpeed)
	Send a MSG_PRESSURE message.
void	unpack_msg_pressure (int32_t &pressureAltitude, int16_t &airSpeed)
	Unpack a MSG_PRESSURE message.
MSG_PERF_REPORT

void	send_msg_perf_report (const uint32_t interval, const uint16_t mainLoopCycles, const uint8_t mainLoopCycleTime, const uint8_t gyroSaturationCount, const uint8_t adcConstraintCount, const uint8_t renormSqrtCount, const uint8_t renormBlowupCount, const uint8_t gpsFixCount, const uint16_t imuHealth, const uint16_t gcsMessageCount)
	Send a MSG_PERF_REPORT message.
void	unpack_msg_perf_report (uint32_t &interval, uint16_t &mainLoopCycles, uint8_t &mainLoopCycleTime, uint8_t &gyroSaturationCount, uint8_t &adcConstraintCount, uint8_t &renormSqrtCount, uint8_t &renormBlowupCount, uint8_t &gpsFixCount, uint16_t &imuHealth, uint16_t &gcsMessageCount)
	Unpack a MSG_PERF_REPORT message.
MSG_VERSION_REQUEST

void	send_msg_version_request (const uint8_t systemType, const uint8_t systemID)
	Send a MSG_VERSION_REQUEST message.
void	unpack_msg_version_request (uint8_t &systemType, uint8_t &systemID)
	Unpack a MSG_VERSION_REQUEST message.
MSG_VERSION

void	send_msg_version (const uint8_t systemType, const uint8_t systemID, const uint8_t(&firmwareVersion)[3])
	Send a MSG_VERSION message.
void	unpack_msg_version (uint8_t &systemType, uint8_t &systemID, uint8_t(&firmwareVersion)[3])
	Unpack a MSG_VERSION message.
MSG_COMMAND_REQUEST

void	send_msg_command_request (const uint16_t UNSPECIFIED)
	Send a MSG_COMMAND_REQUEST message.
void	unpack_msg_command_request (uint16_t &UNSPECIFIED)
	Unpack a MSG_COMMAND_REQUEST message.
MSG_COMMAND_UPLOAD

void	send_msg_command_upload (const uint8_t action, const uint16_t itemNumber, const uint16_t listLength, const uint8_t commandID, const uint8_t p1, const int32_t p2, const int32_t p3, const int32_t p4)
	Send a MSG_COMMAND_UPLOAD message.
void	unpack_msg_command_upload (uint8_t &action, uint16_t &itemNumber, uint16_t &listLength, uint8_t &commandID, uint8_t &p1, int32_t &p2, int32_t &p3, int32_t &p4)
	Unpack a MSG_COMMAND_UPLOAD message.
MSG_COMMAND_LIST

void	send_msg_command_list (const uint16_t itemNumber, const uint16_t listLength, const uint8_t commandID, const uint8_t p1, const int32_t p2, const int32_t p3, const int32_t p4)
	Send a MSG_COMMAND_LIST message.
void	unpack_msg_command_list (uint16_t &itemNumber, uint16_t &listLength, uint8_t &commandID, uint8_t &p1, int32_t &p2, int32_t &p3, int32_t &p4)
	Unpack a MSG_COMMAND_LIST message.
MSG_COMMAND_MODE_CHANGE

void	send_msg_command_mode_change (const uint16_t UNSPECIFIED)
	Send a MSG_COMMAND_MODE_CHANGE message.
void	unpack_msg_command_mode_change (uint16_t &UNSPECIFIED)
	Unpack a MSG_COMMAND_MODE_CHANGE message.
MSG_VALUE_REQUEST

void	send_msg_value_request (const uint8_t valueID, const uint8_t broadcast)
	Send a MSG_VALUE_REQUEST message.
void	unpack_msg_value_request (uint8_t &valueID, uint8_t &broadcast)
	Unpack a MSG_VALUE_REQUEST message.
MSG_VALUE_SET

void	send_msg_value_set (const uint8_t valueID, const uint32_t value)
	Send a MSG_VALUE_SET message.
void	unpack_msg_value_set (uint8_t &valueID, uint32_t &value)
	Unpack a MSG_VALUE_SET message.
MSG_VALUE

void	send_msg_value (const uint8_t valueID, const uint32_t value)
	Send a MSG_VALUE message.
void	unpack_msg_value (uint8_t &valueID, uint32_t &value)
	Unpack a MSG_VALUE message.
MSG_PID_REQUEST

void	send_msg_pid_request (const uint8_t pidSet)
	Send a MSG_PID_REQUEST message.
void	unpack_msg_pid_request (uint8_t &pidSet)
	Unpack a MSG_PID_REQUEST message.
MSG_PID_SET

void	send_msg_pid_set (const uint8_t pidSet, const int32_t p, const int32_t i, const int32_t d, const int16_t integratorMax)
	Send a MSG_PID_SET message.
void	unpack_msg_pid_set (uint8_t &pidSet, int32_t &p, int32_t &i, int32_t &d, int16_t &integratorMax)
	Unpack a MSG_PID_SET message.
MSG_PID

void	send_msg_pid (const uint8_t pidSet, const int32_t p, const int32_t i, const int32_t d, const int16_t integratorMax)
	Send a MSG_PID message.
void	unpack_msg_pid (uint8_t &pidSet, int32_t &p, int32_t &i, int32_t &d, int16_t &integratorMax)
	Unpack a MSG_PID message.
MSG_TRIM_STARTUP

void	send_msg_trim_startup (const uint16_t(&value)[8])
	Send a MSG_TRIM_STARTUP message.
void	unpack_msg_trim_startup (uint16_t(&value)[8])
	Unpack a MSG_TRIM_STARTUP message.
MSG_TRIM_MIN

void	send_msg_trim_min (const uint16_t(&value)[8])
	Send a MSG_TRIM_MIN message.
void	unpack_msg_trim_min (uint16_t(&value)[8])
	Unpack a MSG_TRIM_MIN message.
MSG_TRIM_MAX

void	send_msg_trim_max (const uint16_t(&value)[8])
	Send a MSG_TRIM_MAX message.
void	unpack_msg_trim_max (uint16_t(&value)[8])
	Unpack a MSG_TRIM_MAX message.
MSG_RADIO_OUT

void	send_msg_radio_out (const uint16_t(&value)[8])
	Send a MSG_RADIO_OUT message.
void	unpack_msg_radio_out (uint16_t(&value)[8])
	Unpack a MSG_RADIO_OUT message.
MSG_SENSOR

void	send_msg_sensor (const uint16_t UNSPECIFIED)
	Send a MSG_SENSOR message.
void	unpack_msg_sensor (uint16_t &UNSPECIFIED)
	Unpack a MSG_SENSOR message.
MSG_SERVO_OUT

void	send_msg_servo_out (const int16_t(&value)[8])
	Send a MSG_SERVO_OUT message.
void	unpack_msg_servo_out (int16_t(&value)[8])
	Unpack a MSG_SERVO_OUT message.
MSG_PIN_REQUEST

void	send_msg_pin_request (const uint16_t UNSPECIFIED)
	Send a MSG_PIN_REQUEST message.
void	unpack_msg_pin_request (uint16_t &UNSPECIFIED)
	Unpack a MSG_PIN_REQUEST message.
MSG_PIN_SET

void	send_msg_pin_set (const uint16_t UNSPECIFIED)
	Send a MSG_PIN_SET message.
void	unpack_msg_pin_set (uint16_t &UNSPECIFIED)
	Unpack a MSG_PIN_SET message.
MSG_DATAFLASH_REQUEST

void	send_msg_dataflash_request (const uint16_t UNSPECIFIED)
	Send a MSG_DATAFLASH_REQUEST message.
void	unpack_msg_dataflash_request (uint16_t &UNSPECIFIED)
	Unpack a MSG_DATAFLASH_REQUEST message.
MSG_DATAFLASH_SET

void	send_msg_dataflash_set (const uint16_t UNSPECIFIED)
	Send a MSG_DATAFLASH_SET message.
void	unpack_msg_dataflash_set (uint16_t &UNSPECIFIED)
	Unpack a MSG_DATAFLASH_SET message.
MSG_EEPROM_REQUEST

void	send_msg_eeprom_request (const uint16_t UNSPECIFIED)
	Send a MSG_EEPROM_REQUEST message.
void	unpack_msg_eeprom_request (uint16_t &UNSPECIFIED)
	Unpack a MSG_EEPROM_REQUEST message.
MSG_EEPROM_SET

void	send_msg_eeprom_set (const uint16_t UNSPECIFIED)
	Send a MSG_EEPROM_SET message.
void	unpack_msg_eeprom_set (uint16_t &UNSPECIFIED)
	Unpack a MSG_EEPROM_SET message.
MSG_POSITION_CORRECT

void	send_msg_position_correct (const int16_t latError, const int16_t lonError, const int16_t altError, const int16_t groundSpeedError)
	Send a MSG_POSITION_CORRECT message.
void	unpack_msg_position_correct (int16_t &latError, int16_t &lonError, int16_t &altError, int16_t &groundSpeedError)
	Unpack a MSG_POSITION_CORRECT message.
MSG_ATTITUDE_CORRECT

void	send_msg_attitude_correct (const int16_t rollError, const int16_t pitchError, const int16_t yawError)
	Send a MSG_ATTITUDE_CORRECT message.
void	unpack_msg_attitude_correct (int16_t &rollError, int16_t &pitchError, int16_t &yawError)
	Unpack a MSG_ATTITUDE_CORRECT message.
MSG_POSITION_SET

void	send_msg_position_set (const int32_t latitude, const int32_t longitude, const int32_t altitude, const uint16_t heading)
	Send a MSG_POSITION_SET message.
void	unpack_msg_position_set (int32_t &latitude, int32_t &longitude, int32_t &altitude, uint16_t &heading)
	Unpack a MSG_POSITION_SET message.
MSG_ATTITUDE_SET

void	send_msg_attitude_set (const int16_t roll, const int16_t pitch, const uint16_t yaw)
	Send a MSG_ATTITUDE_SET message.
void	unpack_msg_attitude_set (int16_t &roll, int16_t &pitch, uint16_t &yaw)
	Unpack a MSG_ATTITUDE_SET message.
Public Attributes
uint8_t	bytes [0]
MessageHeader	header
uint8_t	payload [256]
Encoder interface
Messages are normally encoded and sent using the send_msg_* functions defined in protocol/protocol.h. For each message type MSG_* there is a corresponding send_msg_* function which will construct and transmit the message.
uint32_t	messagesSent
	statistics
Decoder interface

uint32_t	messagesReceived
	statistics
uint32_t	badMessagesReceived
	statistics
void	update (void)

Detailed Description

Class providing protocol en/decoding services for the ArduPilot Mega binary telemetry protocol.

The protocol definition, including structures describing messages, MessageID values and helper functions for sending and unpacking messages are automatically generated.

See protocol/protocol.def for a description of the message definitions, and protocol/protocol.h for the generated definitions.

Protocol messages are sent using the send_* functions defined in protocol/protocol.h, and handled on reception by functions defined in the handlerTable array passed to the constructor.

Definition at line 54 of file APM_BinComm.h.

Member Enumeration Documentation

enum BinComm::MessageID

Message ID values

Enumerator:

MSG_PID
MSG_DATAFLASH_REQUEST
MSG_DATAFLASH_SET
MSG_SENSOR
MSG_VALUE_REQUEST
MSG_VALUE_SET
MSG_VALUE
MSG_PIN_REQUEST
MSG_PIN_SET
MSG_POSITION_CORRECT
MSG_ACKNOWLEDGE
MSG_ATTITUDE_CORRECT
MSG_HEARTBEAT
MSG_POSITION_SET
MSG_ATTITUDE
MSG_ATTITUDE_SET
MSG_LOCATION
MSG_PRESSURE
MSG_TRIM_STARTUP
MSG_STATUS_TEXT
MSG_TRIM_MIN
MSG_PERF_REPORT
MSG_TRIM_MAX
MSG_VERSION_REQUEST
MSG_RADIO_OUT
MSG_VERSION
MSG_COMMAND_REQUEST
MSG_COMMAND_UPLOAD
MSG_COMMAND_LIST
MSG_COMMAND_MODE_CHANGE
MSG_SERVO_OUT
MSG_EEPROM_REQUEST
MSG_EEPROM_SET
MSG_PID_REQUEST
MSG_PID_SET
MSG_ANY
MSG_NULL

Definition at line 1421 of file APM_BinComm.h.

enum BinComm::PIDSet

PID sets defined.

Enumerator:

MSG_SERVO_ROLL
MSG_SERVO_PITCH
MSG_SERVO_RUDDER
MSG_SERVO_NAV_ROLL
MSG_SERVO_NAV_PITCH_ASP
MSG_SERVO_NAV_PITCH_ALT
MSG_SERVO_TE_THROTTLE
MSG_SERVO_ALT_THROTTLE
MSG_SERVO_ELEVATOR

Definition at line 232 of file APM_BinComm.h.

enum BinComm::severities

Message serverities.

Enumerator:

SEVERITY_LOW
SEVERITY_MEDIUM
SEVERITY_HIGH
SEVERITY_CRITICAL

Definition at line 187 of file APM_BinComm.h.

enum BinComm::variableID

Variables defined XXX these should probably be handled by the database/MIB?

Enumerator:

MSG_VAR_ROLL_MODE
MSG_VAR_PITCH_MODE
MSG_VAR_THROTTLE_MODE
MSG_VAR_YAW_MODE
MSG_VAR_ELEVON_TRIM_1
MSG_VAR_ELEVON_TRIM_2
MSG_VAR_INTEGRATOR_0
MSG_VAR_INTEGRATOR_1
MSG_VAR_INTEGRATOR_2
MSG_VAR_INTEGRATOR_3
MSG_VAR_INTEGRATOR_4
MSG_VAR_INTEGRATOR_5
MSG_VAR_INTEGRATOR_6
MSG_VAR_INTEGRATOR_7
MSG_VAR_KFF_0
MSG_VAR_KFF_1
MSG_VAR_KFF_2
MSG_VAR_TARGET_BEARING
MSG_VAR_NAV_BEARING
MSG_VAR_BEARING_ERROR
MSG_VAR_CROSSTRACK_BEARING
MSG_VAR_CROSSTRACK_ERROR
MSG_VAR_ALTITUDE_ERROR
MSG_VAR_WP_RADIUS
MSG_VAR_LOITER_RADIUS
MSG_VAR_WP_MODE
MSG_VAR_LOOP_COMMANDS
MSG_VAR_NAV_GAIN_SCALER

Definition at line 197 of file APM_BinComm.h.

Constructor & Destructor Documentation

BinComm::BinComm	(	const MessageHandler *	handlerTable,
		Stream *	interface = `NULL`
	)

Constructor.

Parameters:

	handlerTable	Array of callout functions to which received messages will be sent. More than one handler for a given messageID may be registered; handlers are called in the order they appear in the table. A single handler may be registered for more than one message, as the message ID is passed to the handler when it is received.
	interface	The stream that will be used for telemetry communications.
	rxBuffSize	Size of receive buffer allocated by interface. This is used to warn for buffer overflow.

Definition at line 47 of file APM_BinComm.cpp.

Member Function Documentation

void BinComm::init ( Stream * interface )

Optional initialiser.

If the interface stream isn't known at construction time, it can be set here instead.

Parameters:

interface

The stream that will be used for telemetry communications.

Definition at line 57 of file APM_BinComm.cpp.

void BinComm::send_msg_acknowledge	(	const uint8_t	msgID,
		const uint8_t	sum1,
		const uint8_t	sum2
	)			`[inline]`

Send a MSG_ACKNOWLEDGE message.

Definition at line 22 of file APM_BinComm.h.

void BinComm::send_msg_attitude	(	const int16_t	roll,
		const int16_t	pitch,
		const uint16_t	yaw
	)			`[inline]`

Send a MSG_ATTITUDE message.

Definition at line 148 of file APM_BinComm.h.

void BinComm::send_msg_attitude_correct	(	const int16_t	rollError,
		const int16_t	pitchError,
		const int16_t	yawError
	)			`[inline]`

Send a MSG_ATTITUDE_CORRECT message.

Definition at line 1300 of file APM_BinComm.h.

void BinComm::send_msg_attitude_set	(	const int16_t	roll,
		const int16_t	pitch,
		const uint16_t	yaw
	)			`[inline]`

Send a MSG_ATTITUDE_SET message.

Definition at line 1390 of file APM_BinComm.h.

void BinComm::send_msg_command_list	(	const uint16_t	itemNumber,
		const uint16_t	listLength,
		const uint8_t	commandID,
		const uint8_t	p1,
		const int32_t	p2,
		const int32_t	p3,
		const int32_t	p4
	)			`[inline]`

Send a MSG_COMMAND_LIST message.

Definition at line 554 of file APM_BinComm.h.

void BinComm::send_msg_command_mode_change ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_COMMAND_MODE_CHANGE message.

Definition at line 614 of file APM_BinComm.h.

void BinComm::send_msg_command_request ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_COMMAND_REQUEST message.

Definition at line 446 of file APM_BinComm.h.

void BinComm::send_msg_command_upload	(	const uint8_t	action,
		const uint16_t	itemNumber,
		const uint16_t	listLength,
		const uint8_t	commandID,
		const uint8_t	p1,
		const int32_t	p2,
		const int32_t	p3,
		const int32_t	p4
	)			`[inline]`

Send a MSG_COMMAND_UPLOAD message.

Definition at line 483 of file APM_BinComm.h.

void BinComm::send_msg_dataflash_request ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_DATAFLASH_REQUEST message.

Definition at line 1130 of file APM_BinComm.h.

void BinComm::send_msg_dataflash_set ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_DATAFLASH_SET message.

Definition at line 1160 of file APM_BinComm.h.

void BinComm::send_msg_eeprom_request ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_EEPROM_REQUEST message.

Definition at line 1190 of file APM_BinComm.h.

void BinComm::send_msg_eeprom_set ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_EEPROM_SET message.

Definition at line 1220 of file APM_BinComm.h.

void BinComm::send_msg_heartbeat	(	const uint8_t	flightMode,
		const uint16_t	timeStamp,
		const uint16_t	batteryVoltage,
		const uint16_t	commandIndex
	)			`[inline]`

Send a MSG_HEARTBEAT message.

Definition at line 101 of file APM_BinComm.h.

void BinComm::send_msg_location	(	const int32_t	latitude,
		const int32_t	longitude,
		const int32_t	altitude,
		const uint16_t	groundSpeed,
		const uint16_t	groundCourse,
		const uint32_t	timeOfWeek
	)			`[inline]`

Send a MSG_LOCATION message.

Definition at line 193 of file APM_BinComm.h.

void BinComm::send_msg_perf_report	(	const uint32_t	interval,
		const uint16_t	mainLoopCycles,
		const uint8_t	mainLoopCycleTime,
		const uint8_t	gyroSaturationCount,
		const uint8_t	adcConstraintCount,
		const uint8_t	renormSqrtCount,
		const uint8_t	renormBlowupCount,
		const uint8_t	gpsFixCount,
		const uint16_t	imuHealth,
		const uint16_t	gcsMessageCount
	)			`[inline]`

Send a MSG_PERF_REPORT message.

Definition at line 293 of file APM_BinComm.h.

void BinComm::send_msg_pid	(	const uint8_t	pidSet,
		const int32_t	p,
		const int32_t	i,
		const int32_t	d,
		const int16_t	integratorMax
	)			`[inline]`

Send a MSG_PID message.

Definition at line 840 of file APM_BinComm.h.

void BinComm::send_msg_pid_request ( const uint8_t pidSet ) [inline]

Send a MSG_PID_REQUEST message.

Definition at line 752 of file APM_BinComm.h.

void BinComm::send_msg_pid_set	(	const uint8_t	pidSet,
		const int32_t	p,
		const int32_t	i,
		const int32_t	d,
		const int16_t	integratorMax
	)			`[inline]`

Send a MSG_PID_SET message.

Definition at line 786 of file APM_BinComm.h.

void BinComm::send_msg_pin_request ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_PIN_REQUEST message.

Definition at line 1070 of file APM_BinComm.h.

void BinComm::send_msg_pin_set ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_PIN_SET message.

Definition at line 1100 of file APM_BinComm.h.

void BinComm::send_msg_position_correct	(	const int16_t	latError,
		const int16_t	lonError,
		const int16_t	altError,
		const int16_t	groundSpeedError
	)			`[inline]`

Send a MSG_POSITION_CORRECT message.

Definition at line 1253 of file APM_BinComm.h.

void BinComm::send_msg_position_set	(	const int32_t	latitude,
		const int32_t	longitude,
		const int32_t	altitude,
		const uint16_t	heading
	)			`[inline]`

Send a MSG_POSITION_SET message.

Definition at line 1343 of file APM_BinComm.h.

void BinComm::send_msg_pressure	(	const int32_t	pressureAltitude,
		const int16_t	airSpeed
	)			`[inline]`

Send a MSG_PRESSURE message.

Definition at line 249 of file APM_BinComm.h.

void BinComm::send_msg_radio_out ( const uint16_t(&) value[8] ) [inline]

Send a MSG_RADIO_OUT message.

Definition at line 980 of file APM_BinComm.h.

void BinComm::send_msg_sensor ( const uint16_t UNSPECIFIED ) [inline]

Send a MSG_SENSOR message.

Definition at line 1010 of file APM_BinComm.h.

void BinComm::send_msg_servo_out ( const int16_t(&) value[8] ) [inline]

Send a MSG_SERVO_OUT message.

Definition at line 1040 of file APM_BinComm.h.

void BinComm::send_msg_status_text	(	const uint8_t	severity,
		const char(&)	text[50]
	)			`[inline]`

Send a MSG_STATUS_TEXT message.

Definition at line 63 of file APM_BinComm.h.

void BinComm::send_msg_trim_max ( const uint16_t(&) value[8] ) [inline]

Send a MSG_TRIM_MAX message.

Definition at line 950 of file APM_BinComm.h.

void BinComm::send_msg_trim_min ( const uint16_t(&) value[8] ) [inline]

Send a MSG_TRIM_MIN message.

Definition at line 920 of file APM_BinComm.h.

void BinComm::send_msg_trim_startup ( const uint16_t(&) value[8] ) [inline]

Send a MSG_TRIM_STARTUP message.

Definition at line 890 of file APM_BinComm.h.

void BinComm::send_msg_value	(	const uint8_t	valueID,
		const uint32_t	value
	)			`[inline]`

Send a MSG_VALUE message.

Definition at line 717 of file APM_BinComm.h.

void BinComm::send_msg_value_request	(	const uint8_t	valueID,
		const uint8_t	broadcast
	)			`[inline]`

Send a MSG_VALUE_REQUEST message.

Definition at line 645 of file APM_BinComm.h.

void BinComm::send_msg_value_set	(	const uint8_t	valueID,
		const uint32_t	value
	)			`[inline]`

Send a MSG_VALUE_SET message.

Definition at line 681 of file APM_BinComm.h.

void BinComm::send_msg_version	(	const uint8_t	systemType,
		const uint8_t	systemID,
		const uint8_t(&)	firmwareVersion[3]
	)			`[inline]`

Send a MSG_VERSION message.

Definition at line 406 of file APM_BinComm.h.

void BinComm::send_msg_version_request	(	const uint8_t	systemType,
		const uint8_t	systemID
	)			`[inline]`

Send a MSG_VERSION_REQUEST message.

Definition at line 369 of file APM_BinComm.h.

void BinComm::unpack_msg_acknowledge	(	uint8_t &	msgID,
		uint8_t &	sum1,
		uint8_t &	sum2
	)			`[inline]`

Unpack a MSG_ACKNOWLEDGE message.

Definition at line 39 of file APM_BinComm.h.

void BinComm::unpack_msg_attitude	(	int16_t &	roll,
		int16_t &	pitch,
		uint16_t &	yaw
	)			`[inline]`

Unpack a MSG_ATTITUDE message.

Definition at line 165 of file APM_BinComm.h.

void BinComm::unpack_msg_attitude_correct	(	int16_t &	rollError,
		int16_t &	pitchError,
		int16_t &	yawError
	)			`[inline]`

Unpack a MSG_ATTITUDE_CORRECT message.

Definition at line 1317 of file APM_BinComm.h.

void BinComm::unpack_msg_attitude_set	(	int16_t &	roll,
		int16_t &	pitch,
		uint16_t &	yaw
	)			`[inline]`

Unpack a MSG_ATTITUDE_SET message.

Definition at line 1407 of file APM_BinComm.h.

void BinComm::unpack_msg_command_list	(	uint16_t &	itemNumber,
		uint16_t &	listLength,
		uint8_t &	commandID,
		uint8_t &	p1,
		int32_t &	p2,
		int32_t &	p3,
		int32_t &	p4
	)			`[inline]`

Unpack a MSG_COMMAND_LIST message.

Definition at line 583 of file APM_BinComm.h.

void BinComm::unpack_msg_command_mode_change ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_COMMAND_MODE_CHANGE message.

Definition at line 625 of file APM_BinComm.h.

void BinComm::unpack_msg_command_request ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_COMMAND_REQUEST message.

Definition at line 457 of file APM_BinComm.h.

void BinComm::unpack_msg_command_upload	(	uint8_t &	action,
		uint16_t &	itemNumber,
		uint16_t &	listLength,
		uint8_t &	commandID,
		uint8_t &	p1,
		int32_t &	p2,
		int32_t &	p3,
		int32_t &	p4
	)			`[inline]`

Unpack a MSG_COMMAND_UPLOAD message.

Definition at line 515 of file APM_BinComm.h.

void BinComm::unpack_msg_dataflash_request ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_DATAFLASH_REQUEST message.

Definition at line 1141 of file APM_BinComm.h.

void BinComm::unpack_msg_dataflash_set ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_DATAFLASH_SET message.

Definition at line 1171 of file APM_BinComm.h.

void BinComm::unpack_msg_eeprom_request ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_EEPROM_REQUEST message.

Definition at line 1201 of file APM_BinComm.h.

void BinComm::unpack_msg_eeprom_set ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_EEPROM_SET message.

Definition at line 1231 of file APM_BinComm.h.

void BinComm::unpack_msg_heartbeat	(	uint8_t &	flightMode,
		uint16_t &	timeStamp,
		uint16_t &	batteryVoltage,
		uint16_t &	commandIndex
	)			`[inline]`

Unpack a MSG_HEARTBEAT message.

Definition at line 121 of file APM_BinComm.h.

void BinComm::unpack_msg_location	(	int32_t &	latitude,
		int32_t &	longitude,
		int32_t &	altitude,
		uint16_t &	groundSpeed,
		uint16_t &	groundCourse,
		uint32_t &	timeOfWeek
	)			`[inline]`

Unpack a MSG_LOCATION message.

Definition at line 219 of file APM_BinComm.h.

void BinComm::unpack_msg_perf_report	(	uint32_t &	interval,
		uint16_t &	mainLoopCycles,
		uint8_t &	mainLoopCycleTime,
		uint8_t &	gyroSaturationCount,
		uint8_t &	adcConstraintCount,
		uint8_t &	renormSqrtCount,
		uint8_t &	renormBlowupCount,
		uint8_t &	gpsFixCount,
		uint16_t &	imuHealth,
		uint16_t &	gcsMessageCount
	)			`[inline]`

Unpack a MSG_PERF_REPORT message.

Definition at line 331 of file APM_BinComm.h.

void BinComm::unpack_msg_pid	(	uint8_t &	pidSet,
		int32_t &	p,
		int32_t &	i,
		int32_t &	d,
		int16_t &	integratorMax
	)			`[inline]`

Unpack a MSG_PID message.

Definition at line 863 of file APM_BinComm.h.

void BinComm::unpack_msg_pid_request ( uint8_t & pidSet ) [inline]

Unpack a MSG_PID_REQUEST message.

Definition at line 763 of file APM_BinComm.h.

void BinComm::unpack_msg_pid_set	(	uint8_t &	pidSet,
		int32_t &	p,
		int32_t &	i,
		int32_t &	d,
		int16_t &	integratorMax
	)			`[inline]`

Unpack a MSG_PID_SET message.

Definition at line 809 of file APM_BinComm.h.

void BinComm::unpack_msg_pin_request ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_PIN_REQUEST message.

Definition at line 1081 of file APM_BinComm.h.

void BinComm::unpack_msg_pin_set ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_PIN_SET message.

Definition at line 1111 of file APM_BinComm.h.

void BinComm::unpack_msg_position_correct	(	int16_t &	latError,
		int16_t &	lonError,
		int16_t &	altError,
		int16_t &	groundSpeedError
	)			`[inline]`

Unpack a MSG_POSITION_CORRECT message.

Definition at line 1273 of file APM_BinComm.h.

void BinComm::unpack_msg_position_set	(	int32_t &	latitude,
		int32_t &	longitude,
		int32_t &	altitude,
		uint16_t &	heading
	)			`[inline]`

Unpack a MSG_POSITION_SET message.

Definition at line 1363 of file APM_BinComm.h.

void BinComm::unpack_msg_pressure	(	int32_t &	pressureAltitude,
		int16_t &	airSpeed
	)			`[inline]`

Unpack a MSG_PRESSURE message.

Definition at line 263 of file APM_BinComm.h.

void BinComm::unpack_msg_radio_out ( uint16_t(&) value[8] ) [inline]

Unpack a MSG_RADIO_OUT message.

Definition at line 991 of file APM_BinComm.h.

void BinComm::unpack_msg_sensor ( uint16_t & UNSPECIFIED ) [inline]

Unpack a MSG_SENSOR message.

Definition at line 1021 of file APM_BinComm.h.

void BinComm::unpack_msg_servo_out ( int16_t(&) value[8] ) [inline]

Unpack a MSG_SERVO_OUT message.

Definition at line 1051 of file APM_BinComm.h.

void BinComm::unpack_msg_status_text	(	uint8_t &	severity,
		char(&)	text[50]
	)			`[inline]`

Unpack a MSG_STATUS_TEXT message.

Definition at line 77 of file APM_BinComm.h.

void BinComm::unpack_msg_trim_max ( uint16_t(&) value[8] ) [inline]

Unpack a MSG_TRIM_MAX message.

Definition at line 961 of file APM_BinComm.h.

void BinComm::unpack_msg_trim_min ( uint16_t(&) value[8] ) [inline]

Unpack a MSG_TRIM_MIN message.

Definition at line 931 of file APM_BinComm.h.

void BinComm::unpack_msg_trim_startup ( uint16_t(&) value[8] ) [inline]

Unpack a MSG_TRIM_STARTUP message.

Definition at line 901 of file APM_BinComm.h.

void BinComm::unpack_msg_value	(	uint8_t &	valueID,
		uint32_t &	value
	)			`[inline]`

Unpack a MSG_VALUE message.

Definition at line 731 of file APM_BinComm.h.

void BinComm::unpack_msg_value_request	(	uint8_t &	valueID,
		uint8_t &	broadcast
	)			`[inline]`

Unpack a MSG_VALUE_REQUEST message.

Definition at line 659 of file APM_BinComm.h.

void BinComm::unpack_msg_value_set	(	uint8_t &	valueID,
		uint32_t &	value
	)			`[inline]`

Unpack a MSG_VALUE_SET message.

Definition at line 695 of file APM_BinComm.h.

void BinComm::unpack_msg_version	(	uint8_t &	systemType,
		uint8_t &	systemID,
		uint8_t(&)	firmwareVersion[3]
	)			`[inline]`

Unpack a MSG_VERSION message.

Definition at line 423 of file APM_BinComm.h.

void BinComm::unpack_msg_version_request	(	uint8_t &	systemType,
		uint8_t &	systemID
	)			`[inline]`

Unpack a MSG_VERSION_REQUEST message.

Definition at line 383 of file APM_BinComm.h.

void BinComm::update ( void )

Consume bytes from the interface and feed them to the decoder.

If a packet is completed, then any callbacks associated with the packet's messageID will be called.

If no bytes are passed to the decoder for a period determined by DEC_MESSAGE_TIMEOUT, the decode state machine will reset before processing the next byte. This can help re-synchronise after a link loss or in-flight failure.

Definition at line 100 of file APM_BinComm.cpp.