ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.h

129 lines
2.9 KiB
C

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file GCS_MAVLink.h
/// @brief One size fits all header for MAVLink integration.
#ifndef GCS_MAVLink_h
#define GCS_MAVLink_h
#include <AP_Param.h>
#include <BetterStream.h>
// we have separate helpers disabled to make it possible
// to select MAVLink 1.0 in the arduino GUI build
#define MAVLINK_SEPARATE_HELPERS
#include "include/mavlink/v1.0/ardupilotmega/version.h"
// this allows us to make mavlink_message_t much smaller. It means we
// can't support the largest messages in common.xml, but we don't need
// those for APM
#define MAVLINK_MAX_PAYLOAD_LEN 96
#define MAVLINK_COMM_NUM_BUFFERS 2
#include "include/mavlink/v1.0/mavlink_types.h"
/// MAVLink stream used for HIL interaction
extern BetterStream *mavlink_comm_0_port;
/// MAVLink stream used for ground control communication
extern BetterStream *mavlink_comm_1_port;
/// MAVLink system definition
extern mavlink_system_t mavlink_system;
/// Send a byte to the nominated MAVLink channel
///
/// @param chan Channel to send to
/// @param ch Byte to send
///
static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
{
switch(chan) {
case MAVLINK_COMM_0:
mavlink_comm_0_port->write(ch);
break;
case MAVLINK_COMM_1:
mavlink_comm_1_port->write(ch);
break;
default:
break;
}
}
/// Read a byte from the nominated MAVLink channel
///
/// @param chan Channel to receive on
/// @returns Byte read
///
static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
{
uint8_t data = 0;
switch(chan) {
case MAVLINK_COMM_0:
data = mavlink_comm_0_port->read();
break;
case MAVLINK_COMM_1:
data = mavlink_comm_1_port->read();
break;
default:
break;
}
return data;
}
/// Check for available data on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
static inline uint16_t comm_get_available(mavlink_channel_t chan)
{
uint16_t bytes = 0;
switch(chan) {
case MAVLINK_COMM_0:
bytes = mavlink_comm_0_port->available();
break;
case MAVLINK_COMM_1:
bytes = mavlink_comm_1_port->available();
break;
default:
break;
}
return bytes;
}
/// Check for available transmit space on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
static inline uint16_t comm_get_txspace(mavlink_channel_t chan)
{
int16_t ret = 0;
switch(chan) {
case MAVLINK_COMM_0:
ret = mavlink_comm_0_port->txspace();
break;
case MAVLINK_COMM_1:
ret = mavlink_comm_1_port->txspace();
break;
default:
break;
}
if (ret < 0) {
ret = 0;
}
return (uint16_t)ret;
}
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);
#endif // GCS_MAVLink_h