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MAVLink: use buffer send and fast CRC if possible

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Andrew Tridgell 2013-01-08 15:58:40 +11:00 committed by geermc4
parent df91734883
commit c9fe7fe932
1 changed files with 16 additions and 0 deletions
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16
libraries/GCS_MAVLink/GCS_MAVLink.h
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@ -13,6 +13,13 @@
// to select MAVLink 1.0 in the arduino GUI build
#define MAVLINK_SEPARATE_HELPERS
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <util/crc16.h>
#define HAVE_CRC_ACCUMULATE
#endif
#include "include/mavlink/v1.0/ardupilotmega/version.h"
// this allows us to make mavlink_message_t much smaller. It means we
@ -119,6 +126,15 @@ static inline uint16_t comm_get_txspace(mavlink_channel_t chan)
return (uint16_t)ret;
}
#ifdef HAVE_CRC_ACCUMULATE
// use the AVR C library implementation. This is a bit over twice as
// fast as the C version
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
*crcAccum = _crc_ccitt_update(*crcAccum, data);
}
#endif
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"