mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
e40fe2293b
this makes the core MAVLink functions into library calls, instead of being inlined. The resulting code size doesn't change, but it means we can safely call MAVLink functions from multiple places without causing undue code bloat
115 lines
2.5 KiB
C
115 lines
2.5 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file GCS_MAVLink.h
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/// @brief One size fits all header for MAVLink integration.
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#ifndef GCS_MAVLink_h
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#define GCS_MAVLink_h
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#include <BetterStream.h>
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#define MAVLINK_SEPARATE_HELPERS
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#include "include/ardupilotmega/version.h"
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// this allows us to make mavlink_message_t much smaller
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#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
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#define MAVLINK_COMM_NUM_BUFFERS 2
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#include "include/mavlink_types.h"
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/// MAVLink stream used for HIL interaction
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extern BetterStream *mavlink_comm_0_port;
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/// MAVLink stream used for ground control communication
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extern BetterStream *mavlink_comm_1_port;
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/// MAVLink system definition
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extern mavlink_system_t mavlink_system;
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/// Send a byte to the nominated MAVLink channel
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///
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/// @param chan Channel to send to
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/// @param ch Byte to send
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///
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static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
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{
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switch(chan) {
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case MAVLINK_COMM_0:
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mavlink_comm_0_port->write(ch);
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break;
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case MAVLINK_COMM_1:
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mavlink_comm_1_port->write(ch);
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break;
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default:
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break;
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}
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}
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/// Read a byte from the nominated MAVLink channel
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///
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/// @param chan Channel to receive on
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/// @returns Byte read
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///
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static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
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{
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uint8_t data = 0;
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switch(chan) {
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case MAVLINK_COMM_0:
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data = mavlink_comm_0_port->read();
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break;
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case MAVLINK_COMM_1:
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data = mavlink_comm_1_port->read();
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break;
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default:
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break;
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}
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return data;
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}
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/// Check for available data on the nominated MAVLink channel
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///
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/// @param chan Channel to check
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/// @returns Number of bytes available
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static inline uint16_t comm_get_available(mavlink_channel_t chan)
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{
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uint16_t bytes = 0;
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switch(chan) {
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case MAVLINK_COMM_0:
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bytes = mavlink_comm_0_port->available();
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break;
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case MAVLINK_COMM_1:
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bytes = mavlink_comm_1_port->available();
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break;
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default:
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break;
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}
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return bytes;
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}
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/// Check for available transmit space on the nominated MAVLink channel
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///
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/// @param chan Channel to check
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/// @returns Number of bytes available, -1 for error
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static inline int comm_get_txspace(mavlink_channel_t chan)
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{
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switch(chan) {
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case MAVLINK_COMM_0:
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return mavlink_comm_0_port->txspace();
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break;
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case MAVLINK_COMM_1:
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return mavlink_comm_1_port->txspace();
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break;
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default:
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break;
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}
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return -1;
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}
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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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#include "include/ardupilotmega/mavlink.h"
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#endif // GCS_MAVLink_h
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