ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.h

80 lines
1.7 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 <Stream.h>
#include "include/mavlink_types.h"
/// MAVLink stream used for HIL interaction
extern Stream *mavlink_comm_0_port;
/// MAVLink stream used for ground control communication
extern Stream *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;
}
}
/// 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;
}
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;
}
return bytes;
}
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/ardupilotmega/mavlink.h"
#endif // GCS_MAVLink_h