mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.5 KiB
C
84 lines
2.5 KiB
C
/// @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_Boards.h>
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#include <AP_Networking/AP_Networking_Config.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_NO_CONVERSION_HELPERS
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#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
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#define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size)
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#define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan)
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#if AP_NETWORKING_ENABLED
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// allow 7 telemetry ports with networking
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#define MAVLINK_COMM_NUM_BUFFERS 7
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#else
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// allow five telemetry ports
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#define MAVLINK_COMM_NUM_BUFFERS 5
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#endif
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#define MAVLINK_GET_CHANNEL_BUFFER 1
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#define MAVLINK_GET_CHANNEL_STATUS 1
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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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#if defined(__GNUC__) && __GNUC__ >= 9
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#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
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#endif
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#include "include/mavlink/v2.0/all/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 streams used for each telemetry port
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extern AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
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extern bool gcs_alternative_active[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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mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
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mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
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void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
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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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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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#include "include/mavlink/v2.0/all/mavlink.h"
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// lock and unlock a channel, for multi-threaded mavlink send
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void comm_send_lock(mavlink_channel_t chan, uint16_t size);
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void comm_send_unlock(mavlink_channel_t chan);
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HAL_Semaphore &comm_chan_lock(mavlink_channel_t chan);
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#pragma GCC diagnostic pop
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