mirror of
https://github.com/ArduPilot/ardupilot
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6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
81 lines
2.4 KiB
C
81 lines
2.4 KiB
C
/// @file GCS_MAVLink.h
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/// @brief One size fits all header for MAVLink integration.
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Networking/AP_Networking_Config.h>
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// we have separate helpers disabled to make it possible
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// to select MAVLink 1.0 in the arduino GUI build
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#define MAVLINK_SEPARATE_HELPERS
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#define MAVLINK_NO_CONVERSION_HELPERS
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#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
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#define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size)
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#define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan)
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#if HAL_PROGRAM_SIZE_LIMIT_KB > 1024
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// allow 8 telemetry ports, allowing for extra networking or CAN ports
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#define MAVLINK_COMM_NUM_BUFFERS 8
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#else
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// allow five telemetry ports
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#define MAVLINK_COMM_NUM_BUFFERS 5
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#endif
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#define MAVLINK_GET_CHANNEL_BUFFER 1
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#define MAVLINK_GET_CHANNEL_STATUS 1
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/*
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The MAVLink protocol code generator does its own alignment, so
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alignment cast warnings can be ignored
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*/
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wcast-align"
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#if defined(__GNUC__) && __GNUC__ >= 9
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#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
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#endif
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#include "include/mavlink/v2.0/all/version.h"
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#define MAVLINK_MAX_PAYLOAD_LEN 255
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#include "include/mavlink/v2.0/mavlink_types.h"
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/// MAVLink streams used for each telemetry port
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extern AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
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extern bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
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/// MAVLink system definition
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extern mavlink_system_t mavlink_system;
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/// Sanity check MAVLink channel
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///
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/// @param chan Channel to send to
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static inline bool valid_channel(mavlink_channel_t chan)
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{
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return static_cast<int>(chan) < MAVLINK_COMM_NUM_BUFFERS;
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}
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mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
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mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
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void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
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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
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uint16_t comm_get_txspace(mavlink_channel_t chan);
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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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#include "include/mavlink/v2.0/all/mavlink.h"
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// lock and unlock a channel, for multi-threaded mavlink send
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void comm_send_lock(mavlink_channel_t chan, uint16_t size);
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void comm_send_unlock(mavlink_channel_t chan);
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HAL_Semaphore &comm_chan_lock(mavlink_channel_t chan);
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#pragma GCC diagnostic pop
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