mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.3 KiB
C++
126 lines
3.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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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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*/
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#include "GCS.h"
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#include "GCS_MAVLink.h"
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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#ifdef MAVLINK_SEPARATE_HELPERS
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// Shut up warnings about missing declarations; TODO: should be fixed on
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// mavlink/pymavlink project for when MAVLINK_SEPARATE_HELPERS is defined
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wmissing-declarations"
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#include "include/mavlink/v2.0/mavlink_helpers.h"
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#pragma GCC diagnostic pop
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#endif
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AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
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bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
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// per-channel lock
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static HAL_Semaphore chan_locks[MAVLINK_COMM_NUM_BUFFERS];
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mavlink_system_t mavlink_system = {7,1};
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// routing table
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MAVLink_routing GCS_MAVLINK::routing;
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// set a channel as private. Private channels get sent heartbeats, but
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// don't get broadcast packets or forwarded packets
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void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan)
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{
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const uint8_t mask = (1U<<(unsigned)_chan);
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mavlink_private |= mask;
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mavlink_active &= ~mask;
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}
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// return a MAVLink parameter type given a AP_Param type
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MAV_PARAM_TYPE GCS_MAVLINK::mav_param_type(enum ap_var_type t)
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{
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if (t == AP_PARAM_INT8) {
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return MAV_PARAM_TYPE_INT8;
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}
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if (t == AP_PARAM_INT16) {
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return MAV_PARAM_TYPE_INT16;
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}
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if (t == AP_PARAM_INT32) {
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return MAV_PARAM_TYPE_INT32;
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}
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// treat any others as float
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return MAV_PARAM_TYPE_REAL32;
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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
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uint16_t comm_get_txspace(mavlink_channel_t chan)
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{
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GCS_MAVLINK *link = gcs().chan(chan);
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if (link == nullptr) {
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return 0;
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}
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return link->txspace();
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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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if (!valid_channel(chan)) {
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return;
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}
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if (gcs_alternative_active[chan]) {
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// an alternative protocol is active
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return;
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}
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const size_t written = mavlink_comm_port[chan]->write(buf, len);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (written < len) {
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AP_HAL::panic("Short write on UART: %lu < %u", (unsigned long)written, len);
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}
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#else
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(void)written;
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#endif
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}
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/*
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lock a channel for send
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*/
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void comm_send_lock(mavlink_channel_t chan)
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{
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chan_locks[(uint8_t)chan].take_blocking();
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}
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/*
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unlock a channel
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*/
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void comm_send_unlock(mavlink_channel_t chan)
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{
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chan_locks[(uint8_t)chan].give();
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}
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