mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
9273ac3631
g++-9 throws a lot of warnings for taking addresses of packed members. We can have this warning for our ArduPilot code, but there's way too many issues within MAVLink to put up with.
84 lines
2.5 KiB
C
84 lines
2.5 KiB
C
/// @file GCS_MAVLink.h
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/// @brief One size fits all header for MAVLink integration.
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#pragma once
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#include <AP_Param/AP_Param.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_NO_CONVERSION_HELPERS
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#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
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#define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan)
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#define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan)
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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// allow extra mavlink channels in SITL for:
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// Vicon
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#define MAVLINK_COMM_NUM_BUFFERS 6
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#else
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// allow five telemetry ports
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#define MAVLINK_COMM_NUM_BUFFERS 5
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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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#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
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#include "include/mavlink/v2.0/ardupilotmega/version.h"
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#define MAVLINK_MAX_PAYLOAD_LEN 255
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#include "include/mavlink/v2.0/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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extern bool gcs_alternative_active[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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/// Sanity check MAVLink channel
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///
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/// @param chan Channel to send to
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static inline bool valid_channel(mavlink_channel_t chan)
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{
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#pragma clang diagnostic push
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#pragma clang diagnostic ignored "-Wtautological-constant-out-of-range-compare"
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return chan < MAVLINK_COMM_NUM_BUFFERS;
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#pragma clang diagnostic pop
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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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/// 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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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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#include "include/mavlink/v2.0/ardupilotmega/mavlink.h"
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// return a MAVLink parameter type given a AP_Param type
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MAV_PARAM_TYPE mav_param_type(enum ap_var_type t);
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// lock and unlock a channel, for multi-threaded mavlink send
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void comm_send_lock(mavlink_channel_t chan);
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void comm_send_unlock(mavlink_channel_t chan);
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#pragma GCC diagnostic pop
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