mirror of https://github.com/ArduPilot/ardupilot
33 lines
1.2 KiB
C
33 lines
1.2 KiB
C
#pragma once
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/*
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Wire Protocol:
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Several SPort packets make up a MAVlite message.
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A maximum of six relevant data bytes are present in an SPort packet.
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Each SPort packet starts with a sequence number, starting with zero.
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If the sequence number is zero then the parser is reset.
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The first sport packet contains len at offset 1. It is the
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*payload* length - does not include checksum, for example. msgid is
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at offset 2, then payload bytes.
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Subsequent SPort packets contain a sequence number at offset zero,
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followed by more payload bytes.
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When sufficient payload bytes have been received (based on "len"), a
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single checksum byte arrives. Sometimes this checksum byte goes
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into an SPort packet all on its own, sharing space only with the
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sequence number.
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*/
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#define MAVLITE_MAX_PAYLOAD_LEN 31 // 7 float params + cmd_id + options
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#define MAVLITE_MSG_SPORT_PACKETS_COUNT(LEN) static_cast<uint8_t>(1 + ceilf((LEN-2)/5.0f)) // number of sport packets required to transport a message with LEN payload
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#define SPORT_PACKET_QUEUE_LENGTH static_cast<uint8_t>(30U*MAVLITE_MSG_SPORT_PACKETS_COUNT(MAVLITE_MAX_PAYLOAD_LEN))
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