mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.4 KiB
C
81 lines
2.4 KiB
C
/// @file GCS_MAVLink.h
|
|
/// @brief One size fits all header for MAVLink integration.
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
#include <AP_Networking/AP_Networking_Config.h>
|
|
|
|
// we have separate helpers disabled to make it possible
|
|
// to select MAVLink 1.0 in the arduino GUI build
|
|
#define MAVLINK_SEPARATE_HELPERS
|
|
#define MAVLINK_NO_CONVERSION_HELPERS
|
|
|
|
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
|
|
|
|
#define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size)
|
|
#define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan)
|
|
|
|
#if BOARD_FLASH_SIZE > 1024
|
|
// allow 8 telemetry ports, allowing for extra networking or CAN ports
|
|
#define MAVLINK_COMM_NUM_BUFFERS 8
|
|
#else
|
|
// allow five telemetry ports
|
|
#define MAVLINK_COMM_NUM_BUFFERS 5
|
|
#endif
|
|
|
|
#define MAVLINK_GET_CHANNEL_BUFFER 1
|
|
#define MAVLINK_GET_CHANNEL_STATUS 1
|
|
|
|
/*
|
|
The MAVLink protocol code generator does its own alignment, so
|
|
alignment cast warnings can be ignored
|
|
*/
|
|
#pragma GCC diagnostic push
|
|
#pragma GCC diagnostic ignored "-Wcast-align"
|
|
|
|
#if defined(__GNUC__) && __GNUC__ >= 9
|
|
#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
|
|
#endif
|
|
|
|
#include "include/mavlink/v2.0/all/version.h"
|
|
|
|
#define MAVLINK_MAX_PAYLOAD_LEN 255
|
|
|
|
#include "include/mavlink/v2.0/mavlink_types.h"
|
|
|
|
/// MAVLink streams used for each telemetry port
|
|
extern AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
|
|
extern bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
|
|
|
|
/// MAVLink system definition
|
|
extern mavlink_system_t mavlink_system;
|
|
|
|
/// Sanity check MAVLink channel
|
|
///
|
|
/// @param chan Channel to send to
|
|
static inline bool valid_channel(mavlink_channel_t chan)
|
|
{
|
|
return static_cast<int>(chan) < MAVLINK_COMM_NUM_BUFFERS;
|
|
}
|
|
|
|
mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
|
|
mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
|
|
|
|
void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
|
|
|
|
/// 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);
|
|
|
|
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
#include "include/mavlink/v2.0/all/mavlink.h"
|
|
|
|
// lock and unlock a channel, for multi-threaded mavlink send
|
|
void comm_send_lock(mavlink_channel_t chan, uint16_t size);
|
|
void comm_send_unlock(mavlink_channel_t chan);
|
|
HAL_Semaphore &comm_chan_lock(mavlink_channel_t chan);
|
|
|
|
#pragma GCC diagnostic pop
|