mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.4 KiB
C
122 lines
3.4 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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 <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.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_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
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// define our own MAVLINK_MESSAGE_CRC() macro to allow it to be put
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// into progmem
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#define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#include <util/crc16.h>
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#define HAVE_CRC_ACCUMULATE
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// only two telemetry ports on APM1/APM2
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#define MAVLINK_COMM_NUM_BUFFERS 2
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#else
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// allow four telemetry ports on other boards
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#define MAVLINK_COMM_NUM_BUFFERS 4
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#endif
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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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#include "include/mavlink/v1.0/ardupilotmega/version.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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// this allows us to make mavlink_message_t much smaller. It means we
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// can't support the largest messages in common.xml, but we don't need
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// those for APM1/APM2
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#define MAVLINK_MAX_PAYLOAD_LEN 104
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#else
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#define MAVLINK_MAX_PAYLOAD_LEN 255
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#endif
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#include "include/mavlink/v1.0/mavlink_types.h"
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/// MAVLink stream used for uartA
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extern AP_HAL::UARTDriver *mavlink_comm_port[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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/// 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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// sanity check chan
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if (chan >= MAVLINK_COMM_NUM_BUFFERS) {
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return;
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}
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mavlink_comm_port[chan]->write(ch);
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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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/// 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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uint8_t comm_receive_ch(mavlink_channel_t chan);
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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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uint16_t comm_get_available(mavlink_channel_t chan);
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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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#ifdef HAVE_CRC_ACCUMULATE
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// use the AVR C library implementation. This is a bit over twice as
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// fast as the C version
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static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
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{
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*crcAccum = _crc_ccitt_update(*crcAccum, data);
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}
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#endif
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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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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
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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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// 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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#pragma GCC diagnostic pop
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#endif // GCS_MAVLink_h
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