mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.6 KiB
C
98 lines
2.6 KiB
C
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @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_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.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_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
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// allow five telemetry ports
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#define MAVLINK_COMM_NUM_BUFFERS 5
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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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#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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/// 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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/// Send a byte to the nominated MAVLink channel
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///
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/// @param chan Channel to send to
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/// @param ch Byte to send
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///
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static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
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{
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if (!valid_channel(chan)) {
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return;
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}
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mavlink_comm_port[chan]->write(ch);
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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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/// Read a byte from the nominated MAVLink channel
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///
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/// @param chan Channel to receive on
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/// @returns Byte read
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///
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uint8_t comm_receive_ch(mavlink_channel_t chan);
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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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/*
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return true if the MAVLink parser is idle, so there is no partly parsed
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MAVLink message being processed
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*/
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bool comm_is_idle(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 variable type given a AP_Param type
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uint8_t mav_var_type(enum ap_var_type t);
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#pragma GCC diagnostic pop
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