mirror of https://github.com/ArduPilot/ardupilot
580 lines
17 KiB
C
580 lines
17 KiB
C
#ifndef _MAVLINK_HELPERS_H_
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#define _MAVLINK_HELPERS_H_
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#include "string.h"
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#include "checksum.h"
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#include "mavlink_types.h"
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#include "mavlink_conversions.h"
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#ifndef MAVLINK_HELPER
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#define MAVLINK_HELPER
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#endif
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/*
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* Internal function to give access to the channel status for each channel
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*/
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#ifndef MAVLINK_GET_CHANNEL_STATUS
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MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
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{
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#ifdef MAVLINK_EXTERNAL_RX_STATUS
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// No m_mavlink_status array defined in function,
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// has to be defined externally
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#else
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static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
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#endif
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return &m_mavlink_status[chan];
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}
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#endif
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/*
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* Internal function to give access to the channel buffer for each channel
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*/
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#ifndef MAVLINK_GET_CHANNEL_BUFFER
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MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
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{
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#ifdef MAVLINK_EXTERNAL_RX_BUFFER
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// No m_mavlink_buffer array defined in function,
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// has to be defined externally
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#else
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static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
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#endif
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return &m_mavlink_buffer[chan];
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}
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#endif
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/**
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* @brief Reset the status of a channel.
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*/
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MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
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{
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mavlink_status_t *status = mavlink_get_channel_status(chan);
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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}
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/**
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* @brief Finalize a MAVLink message with channel assignment
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*
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* This function calculates the checksum and sets length and aircraft id correctly.
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* It assumes that the message id and the payload are already correctly set. This function
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* can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
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* instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
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*
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* @param msg Message to finalize
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* @param system_id Id of the sending (this) system, 1-127
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* @param length Message length
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*/
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#if MAVLINK_CRC_EXTRA
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MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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uint8_t chan, uint8_t length, uint8_t crc_extra)
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#else
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MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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uint8_t chan, uint8_t length)
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#endif
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{
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// This code part is the same for all messages;
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msg->magic = MAVLINK_STX;
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msg->len = length;
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msg->sysid = system_id;
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msg->compid = component_id;
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// One sequence number per component
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msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
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mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
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msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
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crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
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#if MAVLINK_CRC_EXTRA
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crc_accumulate(crc_extra, &msg->checksum);
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#endif
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mavlink_ck_a(msg) = (uint8_t)(msg->checksum & 0xFF);
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mavlink_ck_b(msg) = (uint8_t)(msg->checksum >> 8);
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return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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/**
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* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
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*/
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#if MAVLINK_CRC_EXTRA
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MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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uint8_t length, uint8_t crc_extra)
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{
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return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
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}
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#else
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MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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uint8_t length)
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{
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return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
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}
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#endif
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
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/**
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* @brief Finalize a MAVLink message with channel assignment and send
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*/
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#if MAVLINK_CRC_EXTRA
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MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
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uint8_t length, uint8_t crc_extra)
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#else
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MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
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#endif
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{
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uint16_t checksum;
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uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
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uint8_t ck[2];
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mavlink_status_t *status = mavlink_get_channel_status(chan);
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buf[0] = MAVLINK_STX;
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buf[1] = length;
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buf[2] = status->current_tx_seq;
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buf[3] = mavlink_system.sysid;
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buf[4] = mavlink_system.compid;
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buf[5] = msgid;
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status->current_tx_seq++;
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checksum = crc_calculate((const uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
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crc_accumulate_buffer(&checksum, packet, length);
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#if MAVLINK_CRC_EXTRA
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crc_accumulate(crc_extra, &checksum);
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#endif
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ck[0] = (uint8_t)(checksum & 0xFF);
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ck[1] = (uint8_t)(checksum >> 8);
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MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
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_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
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_mavlink_send_uart(chan, packet, length);
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_mavlink_send_uart(chan, (const char *)ck, 2);
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MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
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}
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/**
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* @brief re-send a message over a uart channel
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* this is more stack efficient than re-marshalling the message
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*/
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MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg)
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{
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uint8_t ck[2];
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ck[0] = (uint8_t)(msg->checksum & 0xFF);
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ck[1] = (uint8_t)(msg->checksum >> 8);
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// XXX use the right sequence here
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MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
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_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
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_mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
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_mavlink_send_uart(chan, (const char *)ck, 2);
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MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
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}
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#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
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/**
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* @brief Pack a message to send it over a serial byte stream
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*/
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MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
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{
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memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
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uint8_t *ck = buffer + (MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
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ck[0] = (uint8_t)(msg->checksum & 0xFF);
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ck[1] = (uint8_t)(msg->checksum >> 8);
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return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
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}
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union __mavlink_bitfield {
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uint8_t uint8;
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int8_t int8;
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uint16_t uint16;
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int16_t int16;
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uint32_t uint32;
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int32_t int32;
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};
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MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
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{
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crc_init(&msg->checksum);
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}
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MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
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{
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crc_accumulate(c, &msg->checksum);
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}
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/**
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* This is a convenience function which handles the complete MAVLink parsing.
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* the function will parse one byte at a time and return the complete packet once
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* it could be successfully decoded. Checksum and other failures will be silently
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* ignored.
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*
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* Messages are parsed into an internal buffer (one for each channel). When a complete
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* message is received it is copies into *returnMsg and the channel's status is
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* copied into *returnStats.
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*
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* @param chan ID of the current channel. This allows to parse different channels with this function.
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* a channel is not a physical message channel like a serial port, but a logic partition of
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* the communication streams in this case. COMM_NB is the limit for the number of channels
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* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
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* @param c The char to parse
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*
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* @param returnMsg NULL if no message could be decoded, the message data else
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* @param returnStats if a message was decoded, this is filled with the channel's stats
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* @return 0 if no message could be decoded, 1 else
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*
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* A typical use scenario of this function call is:
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*
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* @code
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* #include <inttypes.h> // For fixed-width uint8_t type
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*
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* mavlink_message_t msg;
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* int chan = 0;
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*
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*
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* while(serial.bytesAvailable > 0)
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* {
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* uint8_t byte = serial.getNextByte();
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* if (mavlink_parse_char(chan, byte, &msg))
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* {
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* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
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* }
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* }
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*
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*
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* @endcode
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*/
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MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
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{
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/*
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default message crc function. You can override this per-system to
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put this data in a different memory segment
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*/
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#if MAVLINK_CRC_EXTRA
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#ifndef MAVLINK_MESSAGE_CRC
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static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
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#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
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#endif
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#endif
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/* Enable this option to check the length of each message.
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This allows invalid messages to be caught much sooner. Use if the transmission
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medium is prone to missing (or extra) characters (e.g. a radio that fades in
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and out). Only use if the channel will only contain messages types listed in
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the headers.
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*/
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#ifdef MAVLINK_CHECK_MESSAGE_LENGTH
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#ifndef MAVLINK_MESSAGE_LENGTH
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static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
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#define MAVLINK_MESSAGE_LENGTH(msgid) mavlink_message_lengths[msgid]
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#endif
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#endif
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mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
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mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
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int bufferIndex = 0;
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status->msg_received = 0;
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switch (status->parse_state)
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{
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case MAVLINK_PARSE_STATE_UNINIT:
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case MAVLINK_PARSE_STATE_IDLE:
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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rxmsg->len = 0;
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rxmsg->magic = c;
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mavlink_start_checksum(rxmsg);
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_STX:
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if (status->msg_received
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/* Support shorter buffers than the
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default maximum packet size */
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#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
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|| c > MAVLINK_MAX_PAYLOAD_LEN
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#endif
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)
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{
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status->buffer_overrun++;
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status->parse_error++;
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status->msg_received = 0;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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}
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else
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{
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// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
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rxmsg->len = c;
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status->packet_idx = 0;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_LENGTH:
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rxmsg->seq = c;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
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break;
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case MAVLINK_PARSE_STATE_GOT_SEQ:
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rxmsg->sysid = c;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
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break;
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case MAVLINK_PARSE_STATE_GOT_SYSID:
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rxmsg->compid = c;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
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break;
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case MAVLINK_PARSE_STATE_GOT_COMPID:
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#ifdef MAVLINK_CHECK_MESSAGE_LENGTH
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if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(c))
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{
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status->parse_error++;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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break;
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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mavlink_start_checksum(rxmsg);
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}
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}
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#endif
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rxmsg->msgid = c;
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mavlink_update_checksum(rxmsg, c);
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if (rxmsg->len == 0)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
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}
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else
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_MSGID:
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_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
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mavlink_update_checksum(rxmsg, c);
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if (status->packet_idx == rxmsg->len)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
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#if MAVLINK_CRC_EXTRA
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mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
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#endif
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if (c != (rxmsg->checksum & 0xFF)) {
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// Check first checksum byte
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status->parse_error++;
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status->msg_received = 0;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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rxmsg->len = 0;
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mavlink_start_checksum(rxmsg);
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}
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}
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else
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
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_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_CRC1:
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if (c != (rxmsg->checksum >> 8)) {
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// Check second checksum byte
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status->parse_error++;
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status->msg_received = 0;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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rxmsg->len = 0;
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mavlink_start_checksum(rxmsg);
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}
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}
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else
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{
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// Successfully got message
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status->msg_received = 1;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
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memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
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}
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break;
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}
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bufferIndex++;
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// If a message has been sucessfully decoded, check index
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if (status->msg_received == 1)
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{
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//while(status->current_seq != rxmsg->seq)
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//{
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// status->packet_rx_drop_count++;
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// status->current_seq++;
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//}
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status->current_rx_seq = rxmsg->seq;
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// Initial condition: If no packet has been received so far, drop count is undefined
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if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
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// Count this packet as received
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status->packet_rx_success_count++;
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}
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r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
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r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
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r_mavlink_status->packet_rx_drop_count = status->parse_error;
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status->parse_error = 0;
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return status->msg_received;
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}
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/**
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* @brief Put a bitfield of length 1-32 bit into the buffer
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*
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* @param b the value to add, will be encoded in the bitfield
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* @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
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* @param packet_index the position in the packet (the index of the first byte to use)
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* @param bit_index the position in the byte (the index of the first bit to use)
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* @param buffer packet buffer to write into
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* @return new position of the last used byte in the buffer
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*/
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MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
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{
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uint16_t bits_remain = bits;
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// Transform number into network order
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int32_t v;
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uint8_t i_bit_index, i_byte_index, curr_bits_n;
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#if MAVLINK_NEED_BYTE_SWAP
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union {
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int32_t i;
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uint8_t b[4];
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} bin, bout;
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bin.i = b;
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bout.b[0] = bin.b[3];
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bout.b[1] = bin.b[2];
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bout.b[2] = bin.b[1];
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bout.b[3] = bin.b[0];
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v = bout.i;
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#else
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v = b;
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#endif
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// buffer in
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// 01100000 01000000 00000000 11110001
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// buffer out
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// 11110001 00000000 01000000 01100000
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|
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// Existing partly filled byte (four free slots)
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// 0111xxxx
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|
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// Mask n free bits
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// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
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// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
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// Shift n bits into the right position
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// out = in >> n;
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|
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// Mask and shift bytes
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i_bit_index = bit_index;
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i_byte_index = packet_index;
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if (bit_index > 0)
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{
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// If bits were available at start, they were available
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// in the byte before the current index
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|
i_byte_index--;
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}
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|
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// While bits have not been packed yet
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|
while (bits_remain > 0)
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|
{
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|
// Bits still have to be packed
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|
// there can be more than 8 bits, so
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|
// we might have to pack them into more than one byte
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|
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|
// First pack everything we can into the current 'open' byte
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|
//curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
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|
//FIXME
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|
if (bits_remain <= (uint8_t)(8 - i_bit_index))
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|
{
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|
// Enough space
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|
curr_bits_n = (uint8_t)bits_remain;
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|
}
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|
else
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|
{
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|
curr_bits_n = (8 - i_bit_index);
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|
}
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|
|
|
// Pack these n bits into the current byte
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|
// Mask out whatever was at that position with ones (xxx11111)
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|
buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
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|
// Put content to this position, by masking out the non-used part
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|
buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
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|
|
|
// Increment the bit index
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|
i_bit_index += curr_bits_n;
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|
|
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// Now proceed to the next byte, if necessary
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|
bits_remain -= curr_bits_n;
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|
if (bits_remain > 0)
|
|
{
|
|
// Offer another 8 bits / one byte
|
|
i_byte_index++;
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|
i_bit_index = 0;
|
|
}
|
|
}
|
|
|
|
*r_bit_index = i_bit_index;
|
|
// If a partly filled byte is present, mark this as consumed
|
|
if (i_bit_index != 7) i_byte_index++;
|
|
return i_byte_index - packet_index;
|
|
}
|
|
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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|
|
|
// To make MAVLink work on your MCU, define comm_send_ch() if you wish
|
|
// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
|
|
// whole packet at a time
|
|
|
|
/*
|
|
|
|
#include "mavlink_types.h"
|
|
|
|
void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
|
|
{
|
|
if (chan == MAVLINK_COMM_0)
|
|
{
|
|
uart0_transmit(ch);
|
|
}
|
|
if (chan == MAVLINK_COMM_1)
|
|
{
|
|
uart1_transmit(ch);
|
|
}
|
|
}
|
|
*/
|
|
|
|
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
|
|
{
|
|
#ifdef MAVLINK_SEND_UART_BYTES
|
|
/* this is the more efficient approach, if the platform
|
|
defines it */
|
|
MAVLINK_SEND_UART_BYTES(chan, (const uint8_t *)buf, len);
|
|
#else
|
|
/* fallback to one byte at a time */
|
|
uint16_t i;
|
|
for (i = 0; i < len; i++) {
|
|
comm_send_ch(chan, (uint8_t)buf[i]);
|
|
}
|
|
#endif
|
|
}
|
|
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
#endif /* _MAVLINK_HELPERS_H_ */
|