ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.cpp

90 lines
2.3 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file GCS_MAVLink.cpp
/*
This provides some support code and variables for MAVLink enabled sketches
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <AP_HAL.h>
#include <AP_Common.h>
#include <GCS_MAVLink.h>
#ifdef MAVLINK_SEPARATE_HELPERS
#include "include/mavlink/v1.0/mavlink_helpers.h"
#endif
AP_HAL::BetterStream *mavlink_comm_0_port;
AP_HAL::BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t)
{
if (t == AP_PARAM_INT8) {
return MAVLINK_TYPE_INT8_T;
}
if (t == AP_PARAM_INT16) {
return MAVLINK_TYPE_INT16_T;
}
if (t == AP_PARAM_INT32) {
return MAVLINK_TYPE_INT32_T;
}
// treat any others as float
return MAVLINK_TYPE_FLOAT;
}
/*
send a buffer out a MAVLink channel
*/
void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
{
switch(chan) {
case MAVLINK_COMM_0:
mavlink_comm_0_port->write(buf, len);
break;
case MAVLINK_COMM_1:
mavlink_comm_1_port->write(buf, len);
break;
default:
break;
}
}
static const uint8_t mavlink_message_crc_progmem[256] PROGMEM = MAVLINK_MESSAGE_CRCS;
// return CRC byte for a mavlink message ID
uint8_t mavlink_get_message_crc(uint8_t msgid)
{
return pgm_read_byte(&mavlink_message_crc_progmem[msgid]);
}
extern const AP_HAL::HAL& hal;
/*
return true if the MAVLink parser is idle, so there is no partly parsed
MAVLink message being processed
*/
bool comm_is_idle(mavlink_channel_t chan)
{
mavlink_status_t *status = mavlink_get_channel_status(chan);
return status == NULL || status->parse_state <= MAVLINK_PARSE_STATE_IDLE;
}