forked from Archive/PX4-Autopilot
90 lines
3.1 KiB
C
90 lines
3.1 KiB
C
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mavlink_bridge_header
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* MAVLink bridge header for UART access.
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*/
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/* MAVLink adapter header */
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#ifndef MAVLINK_BRIDGE_HEADER_H
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#define MAVLINK_BRIDGE_HEADER_H
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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
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//use efficient approach, see mavlink_helpers.h
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#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
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#include "v1.0/mavlink_types.h"
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#include <unistd.h>
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/* Struct that stores the communication settings of this system.
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you can also define / alter these settings elsewhere, as long
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as they're included BEFORE mavlink.h.
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So you can set the
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mavlink_system.sysid = 100; // System ID, 1-255
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mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
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Lines also in your main.c, e.g. by reading these parameter from EEPROM.
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*/
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extern mavlink_system_t mavlink_system;
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mqd_t gps_queue;
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int uart;
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/**
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* @brief Send multiple chars (uint8_t) over a comm channel
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*
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* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
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* @param ch Character to send
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*/
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static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length)
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{
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ssize_t ret;
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if (chan == MAVLINK_COMM_0) {
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ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length));
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if (ret != length) {
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printf("[mavlink] Error: Written %u instead of %u\n", ret, length);
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}
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}
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}
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#endif /* MAVLINK_BRIDGE_HEADER_H */
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