mirror of https://github.com/ArduPilot/ardupilot
325 lines
11 KiB
C
325 lines
11 KiB
C
#ifndef _MAVLINK_PROTOCOL_H_
|
|
#define _MAVLINK_PROTOCOL_H_
|
|
|
|
#include "string.h"
|
|
#include "mavlink_types.h"
|
|
|
|
/*
|
|
If you want MAVLink on a system that is native big-endian,
|
|
you need to define NATIVE_BIG_ENDIAN
|
|
*/
|
|
#ifdef NATIVE_BIG_ENDIAN
|
|
# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
|
|
#else
|
|
# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
|
|
#endif
|
|
|
|
#ifndef MAVLINK_STACK_BUFFER
|
|
#define MAVLINK_STACK_BUFFER 0
|
|
#endif
|
|
|
|
#ifndef MAVLINK_AVOID_GCC_STACK_BUG
|
|
# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
|
|
#endif
|
|
|
|
#ifndef MAVLINK_ASSERT
|
|
#define MAVLINK_ASSERT(x)
|
|
#endif
|
|
|
|
#ifndef MAVLINK_START_UART_SEND
|
|
#define MAVLINK_START_UART_SEND(chan, length)
|
|
#endif
|
|
|
|
#ifndef MAVLINK_END_UART_SEND
|
|
#define MAVLINK_END_UART_SEND(chan, length)
|
|
#endif
|
|
|
|
#ifdef MAVLINK_SEPARATE_HELPERS
|
|
#define MAVLINK_HELPER
|
|
#else
|
|
#define MAVLINK_HELPER static inline
|
|
#include "mavlink_helpers.h"
|
|
#endif // MAVLINK_SEPARATE_HELPERS
|
|
|
|
/* always include the prototypes to ensure we don't get out of sync */
|
|
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
|
|
#if MAVLINK_CRC_EXTRA
|
|
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
|
|
uint8_t chan, uint8_t length, uint8_t crc_extra);
|
|
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
|
|
uint8_t length, uint8_t crc_extra);
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
|
|
uint8_t length, uint8_t crc_extra);
|
|
#endif
|
|
#else
|
|
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
|
|
uint8_t chan, uint8_t length);
|
|
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
|
|
uint8_t length);
|
|
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
|
|
#endif // MAVLINK_CRC_EXTRA
|
|
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
|
|
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
|
|
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
|
|
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
|
|
MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
|
|
uint8_t* r_bit_index, uint8_t* buffer);
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
|
|
#endif
|
|
|
|
/**
|
|
* @brief Get the required buffer size for this message
|
|
*/
|
|
static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
|
|
{
|
|
return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
|
|
}
|
|
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
static inline void byte_swap_2(char *dst, const char *src)
|
|
{
|
|
dst[0] = src[1];
|
|
dst[1] = src[0];
|
|
}
|
|
static inline void byte_swap_4(char *dst, const char *src)
|
|
{
|
|
dst[0] = src[3];
|
|
dst[1] = src[2];
|
|
dst[2] = src[1];
|
|
dst[3] = src[0];
|
|
}
|
|
static inline void byte_swap_8(char *dst, const char *src)
|
|
{
|
|
dst[0] = src[7];
|
|
dst[1] = src[6];
|
|
dst[2] = src[5];
|
|
dst[3] = src[4];
|
|
dst[4] = src[3];
|
|
dst[5] = src[2];
|
|
dst[6] = src[1];
|
|
dst[7] = src[0];
|
|
}
|
|
#elif !MAVLINK_ALIGNED_FIELDS
|
|
static inline void byte_copy_2(char *dst, const char *src)
|
|
{
|
|
dst[0] = src[0];
|
|
dst[1] = src[1];
|
|
}
|
|
static inline void byte_copy_4(char *dst, const char *src)
|
|
{
|
|
dst[0] = src[0];
|
|
dst[1] = src[1];
|
|
dst[2] = src[2];
|
|
dst[3] = src[3];
|
|
}
|
|
static inline void byte_copy_8(char *dst, const char *src)
|
|
{
|
|
memcpy(dst, src, 8);
|
|
}
|
|
#endif
|
|
|
|
#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
|
|
#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
|
|
#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
|
|
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
|
|
#elif !MAVLINK_ALIGNED_FIELDS
|
|
#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
|
|
#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
|
|
#else
|
|
#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
|
|
#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
|
|
#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
|
|
#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
|
|
#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
|
|
#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
|
|
#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
|
|
#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
|
|
#endif
|
|
|
|
|
|
/*
|
|
* Place a char array into a buffer
|
|
*/
|
|
static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
|
|
{
|
|
if (b == NULL) {
|
|
memset(&buf[wire_offset], 0, array_length);
|
|
} else {
|
|
memcpy(&buf[wire_offset], b, array_length);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Place a uint8_t array into a buffer
|
|
*/
|
|
static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
|
|
{
|
|
if (b == NULL) {
|
|
memset(&buf[wire_offset], 0, array_length);
|
|
} else {
|
|
memcpy(&buf[wire_offset], b, array_length);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Place a int8_t array into a buffer
|
|
*/
|
|
static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
|
|
{
|
|
if (b == NULL) {
|
|
memset(&buf[wire_offset], 0, array_length);
|
|
} else {
|
|
memcpy(&buf[wire_offset], b, array_length);
|
|
}
|
|
}
|
|
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
#define _MAV_PUT_ARRAY(TYPE, V) \
|
|
static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
|
|
{ \
|
|
if (b == NULL) { \
|
|
memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
|
|
} else { \
|
|
uint16_t i; \
|
|
for (i=0; i<array_length; i++) { \
|
|
_mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
|
|
} \
|
|
} \
|
|
}
|
|
#else
|
|
#define _MAV_PUT_ARRAY(TYPE, V) \
|
|
static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
|
|
{ \
|
|
if (b == NULL) { \
|
|
memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
|
|
} else { \
|
|
memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
_MAV_PUT_ARRAY(uint16_t, u16)
|
|
_MAV_PUT_ARRAY(uint32_t, u32)
|
|
_MAV_PUT_ARRAY(uint64_t, u64)
|
|
_MAV_PUT_ARRAY(int16_t, i16)
|
|
_MAV_PUT_ARRAY(int32_t, i32)
|
|
_MAV_PUT_ARRAY(int64_t, i64)
|
|
_MAV_PUT_ARRAY(float, f)
|
|
_MAV_PUT_ARRAY(double, d)
|
|
|
|
#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset]
|
|
#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
|
|
#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
|
|
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
|
|
static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
|
|
{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
|
|
|
|
_MAV_MSG_RETURN_TYPE(uint16_t, 2)
|
|
_MAV_MSG_RETURN_TYPE(int16_t, 2)
|
|
_MAV_MSG_RETURN_TYPE(uint32_t, 4)
|
|
_MAV_MSG_RETURN_TYPE(int32_t, 4)
|
|
_MAV_MSG_RETURN_TYPE(uint64_t, 8)
|
|
_MAV_MSG_RETURN_TYPE(int64_t, 8)
|
|
_MAV_MSG_RETURN_TYPE(float, 4)
|
|
_MAV_MSG_RETURN_TYPE(double, 8)
|
|
|
|
#elif !MAVLINK_ALIGNED_FIELDS
|
|
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
|
|
static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
|
|
{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
|
|
|
|
_MAV_MSG_RETURN_TYPE(uint16_t, 2)
|
|
_MAV_MSG_RETURN_TYPE(int16_t, 2)
|
|
_MAV_MSG_RETURN_TYPE(uint32_t, 4)
|
|
_MAV_MSG_RETURN_TYPE(int32_t, 4)
|
|
_MAV_MSG_RETURN_TYPE(uint64_t, 8)
|
|
_MAV_MSG_RETURN_TYPE(int64_t, 8)
|
|
_MAV_MSG_RETURN_TYPE(float, 4)
|
|
_MAV_MSG_RETURN_TYPE(double, 8)
|
|
#else // nicely aligned, no swap
|
|
#define _MAV_MSG_RETURN_TYPE(TYPE) \
|
|
static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
|
|
{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
|
|
|
|
_MAV_MSG_RETURN_TYPE(uint16_t)
|
|
_MAV_MSG_RETURN_TYPE(int16_t)
|
|
_MAV_MSG_RETURN_TYPE(uint32_t)
|
|
_MAV_MSG_RETURN_TYPE(int32_t)
|
|
_MAV_MSG_RETURN_TYPE(uint64_t)
|
|
_MAV_MSG_RETURN_TYPE(int64_t)
|
|
_MAV_MSG_RETURN_TYPE(float)
|
|
_MAV_MSG_RETURN_TYPE(double)
|
|
#endif // MAVLINK_NEED_BYTE_SWAP
|
|
|
|
static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
|
|
uint8_t array_length, uint8_t wire_offset)
|
|
{
|
|
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
|
|
return array_length;
|
|
}
|
|
|
|
static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
|
|
uint8_t array_length, uint8_t wire_offset)
|
|
{
|
|
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
|
|
return array_length;
|
|
}
|
|
|
|
static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
|
|
uint8_t array_length, uint8_t wire_offset)
|
|
{
|
|
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
|
|
return array_length;
|
|
}
|
|
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
#define _MAV_RETURN_ARRAY(TYPE, V) \
|
|
static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
|
|
uint8_t array_length, uint8_t wire_offset) \
|
|
{ \
|
|
uint16_t i; \
|
|
for (i=0; i<array_length; i++) { \
|
|
value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
|
|
} \
|
|
return array_length*sizeof(value[0]); \
|
|
}
|
|
#else
|
|
#define _MAV_RETURN_ARRAY(TYPE, V) \
|
|
static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
|
|
uint8_t array_length, uint8_t wire_offset) \
|
|
{ \
|
|
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
|
|
return array_length*sizeof(TYPE); \
|
|
}
|
|
#endif
|
|
|
|
_MAV_RETURN_ARRAY(uint16_t, u16)
|
|
_MAV_RETURN_ARRAY(uint32_t, u32)
|
|
_MAV_RETURN_ARRAY(uint64_t, u64)
|
|
_MAV_RETURN_ARRAY(int16_t, i16)
|
|
_MAV_RETURN_ARRAY(int32_t, i32)
|
|
_MAV_RETURN_ARRAY(int64_t, i64)
|
|
_MAV_RETURN_ARRAY(float, f)
|
|
_MAV_RETURN_ARRAY(double, d)
|
|
|
|
#endif // _MAVLINK_PROTOCOL_H_
|