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GCS_MAVLink: moved comms functions to not be inline 

saves a bit of flash space
mission-4.1.18
Andrew Tridgell 11 years ago
parent
d9d038345a
commit
013aaf4d3e
2 changed files with 86 additions and 67 deletions
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  1. 83
      libraries/GCS_MAVLink/GCS_MAVLink.cpp
  2. 70
      libraries/GCS_MAVLink/GCS_MAVLink.h

83
libraries/GCS_MAVLink/GCS_MAVLink.cpp
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@ -64,6 +64,89 @@ uint8_t mav_var_type(enum ap_var_type t) @@ -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
*/

70
libraries/GCS_MAVLink/GCS_MAVLink.h
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@ -88,84 +88,20 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len); @@ -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
/// @returns Byte read
///
static inline 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;
}
uint8_t comm_receive_ch(mavlink_channel_t chan);
/// Check for available data on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
static inline 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;
}
uint16_t comm_get_available(mavlink_channel_t chan);
/// Check for available transmit space on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
static inline 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;
}
uint16_t comm_get_txspace(mavlink_channel_t chan);
#ifdef HAVE_CRC_ACCUMULATE
// use the AVR C library implementation. This is a bit over twice as

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