mirror of https://github.com/ArduPilot/ardupilot
908 lines
27 KiB
C
908 lines
27 KiB
C
#ifndef _MAVLINK_PROTOCOL_H_
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#define _MAVLINK_PROTOCOL_H_
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#include "string.h"
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#include "checksum.h"
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#include "mavlink_types.h"
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/**
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* @brief Initialize the communication stack
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*
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* This function has to be called before using commParseBuffer() to initialize the different status registers.
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*
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* @return Will initialize the different buffers and status registers.
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*/
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static void mavlink_parse_state_initialize(mavlink_status_t* initStatus)
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{
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if ((initStatus->parse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1))
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{
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initStatus->ck_a = 0;
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initStatus->ck_b = 0;
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initStatus->msg_received = 0;
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initStatus->buffer_overrun = 0;
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initStatus->parse_error = 0;
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initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT;
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initStatus->packet_idx = 0;
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initStatus->packet_rx_drop_count = 0;
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initStatus->packet_rx_success_count = 0;
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initStatus->current_rx_seq = 0;
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initStatus->current_tx_seq = 0;
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}
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}
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static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
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{
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#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
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#else
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static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
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#endif
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return &m_mavlink_status[chan];
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}
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/**
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* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
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*
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* This function calculates the checksum and sets length and aircraft id correctly.
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* It assumes that the message id and the payload are already correctly set.
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*
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* @warning This function implicitely assumes the message is sent over channel zero.
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* if the message is sent over a different channel it will reach the receiver
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* without error, BUT the sequence number might be wrong due to the wrong
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* channel sequence counter. This will result is wrongly reported excessive
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* packet loss. Please use @see mavlink_{pack|encode}_headerless and then
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* @see mavlink_finalize_message_chan before sending for a correct channel
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* assignment. Please note that the mavlink_msg_xxx_pack and encode functions
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* assign channel zero as default and thus induce possible loss counter errors.\
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* They have been left to ensure code compatibility.
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*
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* @see mavlink_finalize_message_chan
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* @param msg Message to finalize
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* @param system_id Id of the sending (this) system, 1-127
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* @param length Message length, usually just the counter incremented while packing the message
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*/
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static inline uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint16_t length)
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{
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// This code part is the same for all messages;
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uint16_t checksum;
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msg->len = length;
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msg->sysid = system_id;
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msg->compid = component_id;
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// One sequence number per component
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msg->seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq;
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mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1;
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checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN);
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msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte
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msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte
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return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES;
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}
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/**
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* @brief Finalize a MAVLink message with channel assignment
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*
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* This function calculates the checksum and sets length and aircraft id correctly.
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* It assumes that the message id and the payload are already correctly set. This function
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* can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
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* instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
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*
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* @param msg Message to finalize
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* @param system_id Id of the sending (this) system, 1-127
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* @param length Message length, usually just the counter incremented while packing the message
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*/
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static inline uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint16_t length)
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{
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// This code part is the same for all messages;
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uint16_t checksum;
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msg->len = length;
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msg->sysid = system_id;
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msg->compid = component_id;
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// One sequence number per component
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msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
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mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
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checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN);
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msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte
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msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte
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return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES;
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}
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/**
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* @brief Pack a message to send it over a serial byte stream
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*/
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static inline uint16_t mavlink_msg_to_send_buffer(uint8_t* buffer, const mavlink_message_t* msg)
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{
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*(buffer+0) = MAVLINK_STX; ///< Start transmit
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memcpy((buffer+1), msg, msg->len + MAVLINK_CORE_HEADER_LEN); ///< Core header plus payload
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*(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 1) = msg->ck_a;
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*(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 2) = msg->ck_b;
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return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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return 0;
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}
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/**
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* @brief Get the required buffer size for this message
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*/
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static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
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{
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return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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union checksum_ {
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uint16_t s;
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uint8_t c[2];
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};
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union __mavlink_bitfield {
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uint8_t uint8;
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int8_t int8;
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uint16_t uint16;
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int16_t int16;
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uint32_t uint32;
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int32_t int32;
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};
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static inline void mavlink_start_checksum(mavlink_message_t* msg)
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{
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union checksum_ ck;
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crc_init(&(ck.s));
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msg->ck_a = ck.c[0];
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msg->ck_b = ck.c[1];
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}
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static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
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{
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union checksum_ ck;
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ck.c[0] = msg->ck_a;
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ck.c[1] = msg->ck_b;
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crc_accumulate(c, &(ck.s));
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msg->ck_a = ck.c[0];
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msg->ck_b = ck.c[1];
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}
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/**
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* This is a convenience function which handles the complete MAVLink parsing.
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* the function will parse one byte at a time and return the complete packet once
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* it could be successfully decoded. Checksum and other failures will be silently
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* ignored.
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*
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* @param chan ID of the current channel. This allows to parse different channels with this function.
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* a channel is not a physical message channel like a serial port, but a logic partition of
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* the communication streams in this case. COMM_NB is the limit for the number of channels
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* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
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* @param c The char to barse
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*
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* @param returnMsg NULL if no message could be decoded, the message data else
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* @return 0 if no message could be decoded, 1 else
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*
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* A typical use scenario of this function call is:
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*
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* @code
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* #include <inttypes.h> // For fixed-width uint8_t type
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*
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* mavlink_message_t msg;
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* int chan = 0;
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*
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*
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* while(serial.bytesAvailable > 0)
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* {
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* uint8_t byte = serial.getNextByte();
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* if (mavlink_parse_char(chan, byte, &msg))
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* {
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* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
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* }
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* }
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*
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*
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* @endcode
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*/
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static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
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{
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#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
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#else
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static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
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#endif
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// Initializes only once, values keep unchanged after first initialization
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mavlink_parse_state_initialize(mavlink_get_channel_status(chan));
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mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
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mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
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int bufferIndex = 0;
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status->msg_received = 0;
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switch (status->parse_state)
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{
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case MAVLINK_PARSE_STATE_UNINIT:
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case MAVLINK_PARSE_STATE_IDLE:
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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mavlink_start_checksum(rxmsg);
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_STX:
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if (status->msg_received)
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{
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status->buffer_overrun++;
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status->parse_error++;
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status->msg_received = 0;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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}
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else
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{
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// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
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rxmsg->len = c;
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status->packet_idx = 0;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_LENGTH:
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rxmsg->seq = c;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
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break;
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case MAVLINK_PARSE_STATE_GOT_SEQ:
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rxmsg->sysid = c;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
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break;
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case MAVLINK_PARSE_STATE_GOT_SYSID:
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rxmsg->compid = c;
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mavlink_update_checksum(rxmsg, c);
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status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
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break;
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case MAVLINK_PARSE_STATE_GOT_COMPID:
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rxmsg->msgid = c;
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mavlink_update_checksum(rxmsg, c);
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if (rxmsg->len == 0)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
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}
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else
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_MSGID:
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rxmsg->payload[status->packet_idx++] = c;
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mavlink_update_checksum(rxmsg, c);
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if (status->packet_idx == rxmsg->len)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
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if (c != rxmsg->ck_a)
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{
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// Check first checksum byte
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status->parse_error++;
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status->msg_received = 0;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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mavlink_start_checksum(rxmsg);
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}
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}
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else
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
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}
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break;
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case MAVLINK_PARSE_STATE_GOT_CRC1:
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if (c != rxmsg->ck_b)
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{// Check second checksum byte
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status->parse_error++;
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status->msg_received = 0;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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if (c == MAVLINK_STX)
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{
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status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
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mavlink_start_checksum(rxmsg);
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}
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}
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else
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{
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// Successfully got message
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status->msg_received = 1;
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status->parse_state = MAVLINK_PARSE_STATE_IDLE;
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memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
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}
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break;
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}
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bufferIndex++;
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// If a message has been sucessfully decoded, check index
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if (status->msg_received == 1)
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{
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//while(status->current_seq != rxmsg->seq)
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//{
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// status->packet_rx_drop_count++;
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// status->current_seq++;
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//}
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status->current_rx_seq = rxmsg->seq;
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// Initial condition: If no packet has been received so far, drop count is undefined
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if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
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// Count this packet as received
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status->packet_rx_success_count++;
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}
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r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
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r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
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r_mavlink_status->packet_rx_drop_count = status->parse_error;
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status->parse_error = 0;
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return status->msg_received;
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}
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/**
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* This is a convenience function which handles the complete MAVLink parsing.
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* the function will parse one byte at a time and return the complete packet once
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* it could be successfully decoded. Checksum and other failures will be silently
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* ignored.
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*
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* @param chan ID of the current channel. This allows to parse different channels with this function.
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* a channel is not a physical message channel like a serial port, but a logic partition of
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* the communication streams in this case. COMM_NB is the limit for the number of channels
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* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
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* @param c The char to barse
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*
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* @param returnMsg NULL if no message could be decoded, the message data else
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* @return 0 if no message could be decoded, 1 else
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*
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* A typical use scenario of this function call is:
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*
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* @code
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* #include <inttypes.h> // For fixed-width uint8_t type
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*
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* mavlink_message_t msg;
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* int chan = 0;
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*
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*
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* while(serial.bytesAvailable > 0)
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* {
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* uint8_t byte = serial.getNextByte();
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* if (mavlink_parse_char(chan, byte, &msg))
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* {
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* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
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* }
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* }
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*
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*
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* @endcode
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*/
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#define MAVLINK_PACKET_START_CANDIDATES 50
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/*
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static inline uint8_t mavlink_parse_char_new(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
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{
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#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
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static uint8_t m_msgbuf[MAVLINK_COMM_NB_HIGH][MAVLINK_MAX_PACKET_LEN * 2];
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static uint8_t m_msgbuf_index[MAVLINK_COMM_NB_HIGH];
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static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
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static uint8_t m_packet_start[MAVLINK_COMM_NB_HIGH][MAVLINK_PACKET_START_CANDIDATES];
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static uint8_t m_packet_start_index_read[MAVLINK_COMM_NB_HIGH];
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static uint8_t m_packet_start_index_write[MAVLINK_COMM_NB_HIGH];
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#else
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static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
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static uint8_t m_msgbuf[MAVLINK_COMM_NB][MAVLINK_MAX_PACKET_LEN * 2];
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static uint8_t m_msgbuf_index[MAVLINK_COMM_NB];
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static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
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static uint8_t m_packet_start[MAVLINK_COMM_NB][MAVLINK_PACKET_START_CANDIDATES];
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static uint8_t m_packet_start_index_read[MAVLINK_COMM_NB];
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static uint8_t m_packet_start_index_write[MAVLINK_COMM_NB];
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#endif
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// Set a packet start candidate index if sign is start sign
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if (c == MAVLINK_STX)
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{
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m_packet_start[chan][++(m_packet_start_index_write[chan]) % MAVLINK_PACKET_START_CANDIDATES] = m_msgbuf_index[chan];
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}
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// Parse normally, if a CRC mismatch occurs retry with the next packet index
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}
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//#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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// static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB_HIGH];
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// static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB_HIGH];
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//#else
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// static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
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// static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
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//#endif
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//// Initializes only once, values keep unchanged after first initialization
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// mavlink_parse_state_initialize(&m_mavlink_status[chan]);
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//
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//mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
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//mavlink_status_t* status = &m_mavlink_status[chan]; ///< The current decode status
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//int bufferIndex = 0;
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//
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//status->msg_received = 0;
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//
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//switch (status->parse_state)
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//{
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//case MAVLINK_PARSE_STATE_UNINIT:
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//case MAVLINK_PARSE_STATE_IDLE:
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// if (c == MAVLINK_STX)
|
|
// {
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
|
|
// mavlink_start_checksum(rxmsg);
|
|
// }
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_STX:
|
|
// if (status->msg_received)
|
|
// {
|
|
// status->buffer_overrun++;
|
|
// status->parse_error++;
|
|
// status->msg_received = 0;
|
|
// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
|
// }
|
|
// else
|
|
// {
|
|
// // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
|
|
// rxmsg->len = c;
|
|
// status->packet_idx = 0;
|
|
// mavlink_update_checksum(rxmsg, c);
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
|
|
// }
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_LENGTH:
|
|
// rxmsg->seq = c;
|
|
// mavlink_update_checksum(rxmsg, c);
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_SEQ:
|
|
// rxmsg->sysid = c;
|
|
// mavlink_update_checksum(rxmsg, c);
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_SYSID:
|
|
// rxmsg->compid = c;
|
|
// mavlink_update_checksum(rxmsg, c);
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_COMPID:
|
|
// rxmsg->msgid = c;
|
|
// mavlink_update_checksum(rxmsg, c);
|
|
// if (rxmsg->len == 0)
|
|
// {
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
|
|
// }
|
|
// else
|
|
// {
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
|
|
// }
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_MSGID:
|
|
// rxmsg->payload[status->packet_idx++] = c;
|
|
// mavlink_update_checksum(rxmsg, c);
|
|
// if (status->packet_idx == rxmsg->len)
|
|
// {
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
|
|
// }
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
|
|
// if (c != rxmsg->ck_a)
|
|
// {
|
|
// // Check first checksum byte
|
|
// status->parse_error++;
|
|
// status->msg_received = 0;
|
|
// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
|
// }
|
|
// else
|
|
// {
|
|
// status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
|
|
// }
|
|
// break;
|
|
//
|
|
//case MAVLINK_PARSE_STATE_GOT_CRC1:
|
|
// if (c != rxmsg->ck_b)
|
|
// {// Check second checksum byte
|
|
// status->parse_error++;
|
|
// status->msg_received = 0;
|
|
// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
|
// }
|
|
// else
|
|
// {
|
|
// // Successfully got message
|
|
// status->msg_received = 1;
|
|
// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
|
|
// memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
|
|
// }
|
|
// break;
|
|
//}
|
|
|
|
bufferIndex++;
|
|
// If a message has been sucessfully decoded, check index
|
|
if (status->msg_received == 1)
|
|
{
|
|
//while(status->current_seq != rxmsg->seq)
|
|
//{
|
|
// status->packet_rx_drop_count++;
|
|
// status->current_seq++;
|
|
//}
|
|
status->current_seq = rxmsg->seq;
|
|
// Initial condition: If no packet has been received so far, drop count is undefined
|
|
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
|
|
// Count this packet as received
|
|
status->packet_rx_success_count++;
|
|
}
|
|
|
|
r_mavlink_status->current_seq = status->current_seq+1;
|
|
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
|
|
r_mavlink_status->packet_rx_drop_count = status->parse_error;
|
|
return status->msg_received;
|
|
}
|
|
*/
|
|
|
|
|
|
typedef union __generic_16bit
|
|
{
|
|
uint8_t b[2];
|
|
int16_t s;
|
|
} generic_16bit;
|
|
|
|
typedef union __generic_32bit
|
|
{
|
|
uint8_t b[4];
|
|
float f;
|
|
int32_t i;
|
|
int16_t s;
|
|
} generic_32bit;
|
|
|
|
typedef union __generic_64bit
|
|
{
|
|
uint8_t b[8];
|
|
int64_t ll; ///< Long long (64 bit)
|
|
} generic_64bit;
|
|
|
|
/**
|
|
* @brief Place an unsigned byte into the buffer
|
|
*
|
|
* @param b the byte to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_uint8_t_by_index(uint8_t b, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
*(buffer + bindex) = b;
|
|
return sizeof(b);
|
|
}
|
|
|
|
/**
|
|
* @brief Place a signed byte into the buffer
|
|
*
|
|
* @param b the byte to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_int8_t_by_index(int8_t b, int8_t bindex, uint8_t* buffer)
|
|
{
|
|
*(buffer + bindex) = (uint8_t)b;
|
|
return sizeof(b);
|
|
}
|
|
|
|
/**
|
|
* @brief Place two unsigned bytes into the buffer
|
|
*
|
|
* @param b the bytes to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_uint16_t_by_index(uint16_t b, const uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
buffer[bindex] = (b>>8)&0xff;
|
|
buffer[bindex+1] = (b & 0xff);
|
|
return sizeof(b);
|
|
}
|
|
|
|
/**
|
|
* @brief Place two signed bytes into the buffer
|
|
*
|
|
* @param b the bytes to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_int16_t_by_index(int16_t b, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
return put_uint16_t_by_index(b, bindex, buffer);
|
|
}
|
|
|
|
/**
|
|
* @brief Place four unsigned bytes into the buffer
|
|
*
|
|
* @param b the bytes to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_uint32_t_by_index(uint32_t b, const uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
buffer[bindex] = (b>>24)&0xff;
|
|
buffer[bindex+1] = (b>>16)&0xff;
|
|
buffer[bindex+2] = (b>>8)&0xff;
|
|
buffer[bindex+3] = (b & 0xff);
|
|
return sizeof(b);
|
|
}
|
|
|
|
/**
|
|
* @brief Place four signed bytes into the buffer
|
|
*
|
|
* @param b the bytes to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_int32_t_by_index(int32_t b, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
buffer[bindex] = (b>>24)&0xff;
|
|
buffer[bindex+1] = (b>>16)&0xff;
|
|
buffer[bindex+2] = (b>>8)&0xff;
|
|
buffer[bindex+3] = (b & 0xff);
|
|
return sizeof(b);
|
|
}
|
|
|
|
/**
|
|
* @brief Place four unsigned bytes into the buffer
|
|
*
|
|
* @param b the bytes to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_uint64_t_by_index(uint64_t b, const uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
buffer[bindex] = (b>>56)&0xff;
|
|
buffer[bindex+1] = (b>>48)&0xff;
|
|
buffer[bindex+2] = (b>>40)&0xff;
|
|
buffer[bindex+3] = (b>>32)&0xff;
|
|
buffer[bindex+4] = (b>>24)&0xff;
|
|
buffer[bindex+5] = (b>>16)&0xff;
|
|
buffer[bindex+6] = (b>>8)&0xff;
|
|
buffer[bindex+7] = (b & 0xff);
|
|
return sizeof(b);
|
|
}
|
|
|
|
/**
|
|
* @brief Place four signed bytes into the buffer
|
|
*
|
|
* @param b the bytes to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_int64_t_by_index(int64_t b, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
return put_uint64_t_by_index(b, bindex, buffer);
|
|
}
|
|
|
|
/**
|
|
* @brief Place a float into the buffer
|
|
*
|
|
* @param b the float to add
|
|
* @param bindex the position in the packet
|
|
* @param buffer the packet buffer
|
|
* @return the new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_float_by_index(float b, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
generic_32bit g;
|
|
g.f = b;
|
|
return put_int32_t_by_index(g.i, bindex, buffer);
|
|
}
|
|
|
|
/**
|
|
* @brief Place an array into the buffer
|
|
*
|
|
* @param b the array to add
|
|
* @param length size of the array (for strings: length WITH '\0' char)
|
|
* @param bindex the position in the packet
|
|
* @param buffer packet buffer
|
|
* @return new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_array_by_index(const int8_t* b, uint8_t length, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
memcpy(buffer+bindex, b, length);
|
|
return length;
|
|
}
|
|
|
|
/**
|
|
* @brief Place a string into the buffer
|
|
*
|
|
* @param b the string to add
|
|
* @param maxlength size of the array (for strings: length WITHOUT '\0' char)
|
|
* @param bindex the position in the packet
|
|
* @param buffer packet buffer
|
|
* @return new position of the last used byte in the buffer
|
|
*/
|
|
static inline uint8_t put_string_by_index(const char* b, uint8_t maxlength, uint8_t bindex, uint8_t* buffer)
|
|
{
|
|
uint16_t length = 0;
|
|
// Copy string into buffer, ensuring not to exceed the buffer size
|
|
int i;
|
|
for (i = 1; i < maxlength; i++)
|
|
{
|
|
length++;
|
|
// String characters
|
|
if (i < (maxlength - 1))
|
|
{
|
|
buffer[bindex+i] = b[i];
|
|
// Stop at null character
|
|
if (b[i] == '\0')
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
// Enforce null termination at end of buffer
|
|
else if (i == (maxlength - 1))
|
|
{
|
|
buffer[i] = '\0';
|
|
}
|
|
}
|
|
// Write length into first field
|
|
put_uint8_t_by_index(length, bindex, buffer);
|
|
return length;
|
|
}
|
|
|
|
/**
|
|
* @brief Put a bitfield of length 1-32 bit into the buffer
|
|
*
|
|
* @param b the value to add, will be encoded in the bitfield
|
|
* @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
|
|
* @param packet_index the position in the packet (the index of the first byte to use)
|
|
* @param bit_index the position in the byte (the index of the first bit to use)
|
|
* @param buffer packet buffer to write into
|
|
* @return new position of the last used byte in the buffer
|
|
*/
|
|
static inline 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)
|
|
{
|
|
uint16_t bits_remain = bits;
|
|
// Transform number into network order
|
|
generic_32bit bin;
|
|
generic_32bit bout;
|
|
uint8_t i_bit_index, i_byte_index, curr_bits_n;
|
|
bin.i = b;
|
|
bout.b[0] = bin.b[3];
|
|
bout.b[1] = bin.b[2];
|
|
bout.b[2] = bin.b[1];
|
|
bout.b[3] = bin.b[0];
|
|
|
|
// buffer in
|
|
// 01100000 01000000 00000000 11110001
|
|
// buffer out
|
|
// 11110001 00000000 01000000 01100000
|
|
|
|
// Existing partly filled byte (four free slots)
|
|
// 0111xxxx
|
|
|
|
// Mask n free bits
|
|
// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
|
|
// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
|
|
|
|
// Shift n bits into the right position
|
|
// out = in >> n;
|
|
|
|
// Mask and shift bytes
|
|
i_bit_index = bit_index;
|
|
i_byte_index = packet_index;
|
|
if (bit_index > 0)
|
|
{
|
|
// If bits were available at start, they were available
|
|
// in the byte before the current index
|
|
i_byte_index--;
|
|
}
|
|
|
|
// While bits have not been packed yet
|
|
while (bits_remain > 0)
|
|
{
|
|
// Bits still have to be packed
|
|
// there can be more than 8 bits, so
|
|
// we might have to pack them into more than one byte
|
|
|
|
// First pack everything we can into the current 'open' byte
|
|
//curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
|
|
//FIXME
|
|
if (bits_remain <= uint16_t(8 - i_bit_index))
|
|
{
|
|
// Enough space
|
|
curr_bits_n = bits_remain;
|
|
}
|
|
else
|
|
{
|
|
curr_bits_n = (8 - i_bit_index);
|
|
}
|
|
|
|
// Pack these n bits into the current byte
|
|
// Mask out whatever was at that position with ones (xxx11111)
|
|
buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
|
|
// Put content to this position, by masking out the non-used part
|
|
buffer[i_byte_index] |= ((0x00 << curr_bits_n) & bout.i);
|
|
|
|
// Increment the bit index
|
|
i_bit_index += curr_bits_n;
|
|
|
|
// Now proceed to the next byte, if necessary
|
|
bits_remain -= curr_bits_n;
|
|
if (bits_remain > 0)
|
|
{
|
|
// Offer another 8 bits / one byte
|
|
i_byte_index++;
|
|
i_bit_index = 0;
|
|
}
|
|
}
|
|
|
|
*r_bit_index = i_bit_index;
|
|
// If a partly filled byte is present, mark this as consumed
|
|
if (i_bit_index != 7) i_byte_index++;
|
|
return i_byte_index - packet_index;
|
|
}
|
|
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
// To make MAVLink work on your MCU, define a similar function
|
|
|
|
/*
|
|
|
|
#include "mavlink_types.h"
|
|
|
|
void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
|
|
{
|
|
if (chan == MAVLINK_COMM_0)
|
|
{
|
|
uart0_transmit(ch);
|
|
}
|
|
if (chan == MAVLINK_COMM_1)
|
|
{
|
|
uart1_transmit(ch);
|
|
}
|
|
}
|
|
*/
|
|
|
|
|
|
static inline void mavlink_send_uart(mavlink_channel_t chan, mavlink_message_t* msg)
|
|
{
|
|
// ARM7 MCU board implementation
|
|
// Create pointer on message struct
|
|
// Send STX
|
|
comm_send_ch(chan, MAVLINK_STX);
|
|
comm_send_ch(chan, msg->len);
|
|
comm_send_ch(chan, msg->seq);
|
|
comm_send_ch(chan, msg->sysid);
|
|
comm_send_ch(chan, msg->compid);
|
|
comm_send_ch(chan, msg->msgid);
|
|
for(uint16_t i = 0; i < msg->len; i++)
|
|
{
|
|
comm_send_ch(chan, msg->payload[i]);
|
|
}
|
|
comm_send_ch(chan, msg->ck_a);
|
|
comm_send_ch(chan, msg->ck_b);
|
|
}
|
|
#endif
|
|
|
|
#endif /* _MAVLINK_PROTOCOL_H_ */
|