ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.h

149 lines
3.9 KiB
C

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file GCS_MAVLink.h
/// @brief One size fits all header for MAVLink integration.
#ifndef GCS_MAVLink_h
#define GCS_MAVLink_h
#include <AP_HAL.h>
#include <AP_Param.h>
#include <AP_Math.h>
// we have separate helpers disabled to make it possible
// to select MAVLink 1.0 in the arduino GUI build
#define MAVLINK_SEPARATE_HELPERS
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
// define our own MAVLINK_MESSAGE_CRC() macro to allow it to be put
// into progmem
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <util/crc16.h>
#define HAVE_CRC_ACCUMULATE
// only two telemetry ports on APM1/APM2
#define MAVLINK_COMM_NUM_BUFFERS 2
#else
// allow three telemetry ports on other boards
#define MAVLINK_COMM_NUM_BUFFERS 3
#endif
/*
The MAVLink protocol code generator does its own alignment, so
alignment cast warnings can be ignored
*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
#include "include/mavlink/v1.0/ardupilotmega/version.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
// this allows us to make mavlink_message_t much smaller. It means we
// can't support the largest messages in common.xml, but we don't need
// those for APM1/APM2
#define MAVLINK_MAX_PAYLOAD_LEN 104
#else
#define MAVLINK_MAX_PAYLOAD_LEN 255
#endif
#include "include/mavlink/v1.0/mavlink_types.h"
/// MAVLink stream used for uartA
extern AP_HAL::BetterStream *mavlink_comm_0_port;
/// MAVLink stream used for uartC
extern AP_HAL::BetterStream *mavlink_comm_1_port;
#if MAVLINK_COMM_NUM_BUFFERS > 2
/// MAVLink stream used for uartD
extern AP_HAL::BetterStream *mavlink_comm_2_port;
#endif
/// 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;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
mavlink_comm_2_port->write(ch);
break;
#endif
default:
break;
}
}
void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
/// Read a byte from the nominated MAVLink channel
///
/// @param chan Channel to receive on
/// @returns Byte read
///
uint8_t comm_receive_ch(mavlink_channel_t chan);
/// Check for available data on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
uint16_t comm_get_available(mavlink_channel_t chan);
/// Check for available transmit space on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
uint16_t comm_get_txspace(mavlink_channel_t chan);
#ifdef HAVE_CRC_ACCUMULATE
// use the AVR C library implementation. This is a bit over twice as
// fast as the C version
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
*crcAccum = _crc_ccitt_update(*crcAccum, data);
}
#endif
/*
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);
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);
// return CRC byte for a mavlink message ID
uint8_t mavlink_get_message_crc(uint8_t msgid);
// severity levels used in STATUSTEXT messages
enum gcs_severity {
SEVERITY_LOW=1,
SEVERITY_MEDIUM,
SEVERITY_HIGH,
SEVERITY_CRITICAL,
SEVERITY_USER_RESPONSE
};
#pragma GCC diagnostic pop
#endif // GCS_MAVLink_h