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GCS_MAVLink: moved comms functions to not be inline

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saves a bit of flash space
This commit is contained in:
Andrew Tridgell 2014-04-04 13:19:15 +11:00
parent d9d038345a
commit 013aaf4d3e
2 changed files with 86 additions and 67 deletions
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83
libraries/GCS_MAVLink/GCS_MAVLink.cpp
View File

@ -64,6 +64,89 @@ uint8_t mav_var_type(enum ap_var_type t)
} }
/// 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)
{
uint8_t data = 0;
switch(chan) {
case MAVLINK_COMM_0:
data = mavlink_comm_0_port->read();
break;
case MAVLINK_COMM_1:
data = mavlink_comm_1_port->read();
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
data = mavlink_comm_2_port->read();
break;
#endif
default:
break;
}
return data;
}
/// 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)
{
int16_t ret = 0;
switch(chan) {
case MAVLINK_COMM_0:
ret = mavlink_comm_0_port->txspace();
break;
case MAVLINK_COMM_1:
ret = mavlink_comm_1_port->txspace();
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
ret = mavlink_comm_2_port->txspace();
break;
#endif
default:
break;
}
if (ret < 0) {
ret = 0;
}
return (uint16_t)ret;
}
/// 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)
{
int16_t bytes = 0;
switch(chan) {
case MAVLINK_COMM_0:
bytes = mavlink_comm_0_port->available();
break;
case MAVLINK_COMM_1:
bytes = mavlink_comm_1_port->available();
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
bytes = mavlink_comm_2_port->available();
break;
#endif
default:
break;
}
if (bytes == -1) {
return 0;
}
return (uint16_t)bytes;
}
/* /*
send a buffer out a MAVLink channel send a buffer out a MAVLink channel
*/ */

70
libraries/GCS_MAVLink/GCS_MAVLink.h
View File

@ -88,84 +88,20 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
/// @param chan Channel to receive on /// @param chan Channel to receive on
/// @returns Byte read /// @returns Byte read
/// ///
static inline uint8_t comm_receive_ch(mavlink_channel_t chan) uint8_t comm_receive_ch(mavlink_channel_t chan);
{
uint8_t data = 0;
switch(chan) {
case MAVLINK_COMM_0:
data = mavlink_comm_0_port->read();
break;
case MAVLINK_COMM_1:
data = mavlink_comm_1_port->read();
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
data = mavlink_comm_2_port->read();
break;
#endif
default:
break;
}
return data;
}
/// Check for available data on the nominated MAVLink channel /// Check for available data on the nominated MAVLink channel
/// ///
/// @param chan Channel to check /// @param chan Channel to check
/// @returns Number of bytes available /// @returns Number of bytes available
static inline uint16_t comm_get_available(mavlink_channel_t chan) uint16_t comm_get_available(mavlink_channel_t chan);
{
int16_t bytes = 0;
switch(chan) {
case MAVLINK_COMM_0:
bytes = mavlink_comm_0_port->available();
break;
case MAVLINK_COMM_1:
bytes = mavlink_comm_1_port->available();
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
bytes = mavlink_comm_2_port->available();
break;
#endif
default:
break;
}
if (bytes == -1) {
return 0;
}
return (uint16_t)bytes;
}
/// Check for available transmit space on the nominated MAVLink channel /// Check for available transmit space on the nominated MAVLink channel
/// ///
/// @param chan Channel to check /// @param chan Channel to check
/// @returns Number of bytes available /// @returns Number of bytes available
static inline uint16_t comm_get_txspace(mavlink_channel_t chan) uint16_t comm_get_txspace(mavlink_channel_t chan);
{
int16_t ret = 0;
switch(chan) {
case MAVLINK_COMM_0:
ret = mavlink_comm_0_port->txspace();
break;
case MAVLINK_COMM_1:
ret = mavlink_comm_1_port->txspace();
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
ret = mavlink_comm_2_port->txspace();
break;
#endif
default:
break;
}
if (ret < 0) {
ret = 0;
}
return (uint16_t)ret;
}
#ifdef HAVE_CRC_ACCUMULATE #ifdef HAVE_CRC_ACCUMULATE
// use the AVR C library implementation. This is a bit over twice as // use the AVR C library implementation. This is a bit over twice as