mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.3 KiB
C++
90 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file GCS_MAVLink.cpp
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/*
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This provides some support code and variables for MAVLink enabled sketches
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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#ifdef MAVLINK_SEPARATE_HELPERS
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#include "include/mavlink/v1.0/mavlink_helpers.h"
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#endif
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AP_HAL::BetterStream *mavlink_comm_0_port;
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AP_HAL::BetterStream *mavlink_comm_1_port;
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mavlink_system_t mavlink_system = {7,1,0,0};
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uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
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{
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if (sysid != mavlink_system.sysid)
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return 1;
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// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
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// If it is addressed to our system ID we assume it is for us
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return 0; // no error
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}
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// return a MAVLink variable type given a AP_Param type
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uint8_t mav_var_type(enum ap_var_type t)
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{
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if (t == AP_PARAM_INT8) {
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return MAVLINK_TYPE_INT8_T;
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}
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if (t == AP_PARAM_INT16) {
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return MAVLINK_TYPE_INT16_T;
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}
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if (t == AP_PARAM_INT32) {
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return MAVLINK_TYPE_INT32_T;
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}
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// treat any others as float
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return MAVLINK_TYPE_FLOAT;
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}
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/*
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send a buffer out a MAVLink channel
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*/
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void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
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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(buf, len);
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break;
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case MAVLINK_COMM_1:
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mavlink_comm_1_port->write(buf, len);
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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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static const uint8_t mavlink_message_crc_progmem[256] PROGMEM = MAVLINK_MESSAGE_CRCS;
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// return CRC byte for a mavlink message ID
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uint8_t mavlink_get_message_crc(uint8_t msgid)
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{
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return pgm_read_byte(&mavlink_message_crc_progmem[msgid]);
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}
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extern const AP_HAL::HAL& hal;
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/*
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return true if the MAVLink parser is idle, so there is no partly parsed
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MAVLink message being processed
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*/
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bool comm_is_idle(mavlink_channel_t chan)
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{
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mavlink_status_t *status = mavlink_get_channel_status(chan);
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return status == NULL || status->parse_state <= MAVLINK_PARSE_STATE_IDLE;
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}
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