zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

GCS_MAVLink: rebuild MAVLink headers

mission-4.1.18
Andrew Tridgell 11 years ago
parent
14b3696959
commit
493c5dd63f
6 changed files with 411 additions and 8 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
  2. 2
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
  3. 34
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
  4. 321
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_serial_control.h
  5. 54
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
  6. 2
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h

6
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
View File

File diff suppressed because one or more lines are too long

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
Unescape View File

@ -5,7 +5,7 @@ @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 27 15:24:27 2014"
#define MAVLINK_BUILD_DATE "Fri Apr 4 14:54:52 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

34
libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
View File

File diff suppressed because one or more lines are too long

321
libraries/GCS_MAVLink/include/mavlink/v1.0/common/mavlink_msg_serial_control.h
Unescape View File

@ -0,0 +1,321 @@ @@ -0,0 +1,321 @@
// MESSAGE SERIAL_CONTROL PACKING
#define MAVLINK_MSG_ID_SERIAL_CONTROL 126
typedef struct __mavlink_serial_control_t
{
uint32_t baudrate; ///< Baudrate of transfer. Zero means no change.
uint16_t timeout; ///< Timeout for reply data in milliseconds
uint8_t device; ///< See SERIAL_CONTROL_DEV enum
uint8_t flags; ///< See SERIAL_CONTROL_FLAG enum
uint8_t count; ///< how many bytes in this transfer
uint8_t data[70]; ///< serial data
} mavlink_serial_control_t;
#define MAVLINK_MSG_ID_SERIAL_CONTROL_LEN 79
#define MAVLINK_MSG_ID_126_LEN 79
#define MAVLINK_MSG_ID_SERIAL_CONTROL_CRC 220
#define MAVLINK_MSG_ID_126_CRC 220
#define MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN 70
#define MAVLINK_MESSAGE_INFO_SERIAL_CONTROL { \
"SERIAL_CONTROL", \
6, \
{ { "baudrate", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_control_t, baudrate) }, \
{ "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_serial_control_t, timeout) }, \
{ "device", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_control_t, device) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_control_t, flags) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_control_t, count) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 70, 9, offsetof(mavlink_serial_control_t, data) }, \
} \
}
/**
* @brief Pack a serial_control message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param device See SERIAL_CONTROL_DEV enum
* @param flags See SERIAL_CONTROL_FLAG enum
* @param timeout Timeout for reply data in milliseconds
* @param baudrate Baudrate of transfer. Zero means no change.
* @param count how many bytes in this transfer
* @param data serial data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_serial_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN];
_mav_put_uint32_t(buf, 0, baudrate);
_mav_put_uint16_t(buf, 4, timeout);
_mav_put_uint8_t(buf, 6, device);
_mav_put_uint8_t(buf, 7, flags);
_mav_put_uint8_t(buf, 8, count);
_mav_put_uint8_t_array(buf, 9, data, 70);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#else
mavlink_serial_control_t packet;
packet.baudrate = baudrate;
packet.timeout = timeout;
packet.device = device;
packet.flags = flags;
packet.count = count;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
}
/**
* @brief Pack a serial_control message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param device See SERIAL_CONTROL_DEV enum
* @param flags See SERIAL_CONTROL_FLAG enum
* @param timeout Timeout for reply data in milliseconds
* @param baudrate Baudrate of transfer. Zero means no change.
* @param count how many bytes in this transfer
* @param data serial data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_serial_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t device,uint8_t flags,uint16_t timeout,uint32_t baudrate,uint8_t count,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN];
_mav_put_uint32_t(buf, 0, baudrate);
_mav_put_uint16_t(buf, 4, timeout);
_mav_put_uint8_t(buf, 6, device);
_mav_put_uint8_t(buf, 7, flags);
_mav_put_uint8_t(buf, 8, count);
_mav_put_uint8_t_array(buf, 9, data, 70);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#else
mavlink_serial_control_t packet;
packet.baudrate = baudrate;
packet.timeout = timeout;
packet.device = device;
packet.flags = flags;
packet.count = count;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
}
/**
* @brief Encode a serial_control struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param serial_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_serial_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control)
{
return mavlink_msg_serial_control_pack(system_id, component_id, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
}
/**
* @brief Encode a serial_control struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param serial_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_serial_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control)
{
return mavlink_msg_serial_control_pack_chan(system_id, component_id, chan, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
}
/**
* @brief Send a serial_control message
* @param chan MAVLink channel to send the message
*
* @param device See SERIAL_CONTROL_DEV enum
* @param flags See SERIAL_CONTROL_FLAG enum
* @param timeout Timeout for reply data in milliseconds
* @param baudrate Baudrate of transfer. Zero means no change.
* @param count how many bytes in this transfer
* @param data serial data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_serial_control_send(mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN];
_mav_put_uint32_t(buf, 0, baudrate);
_mav_put_uint16_t(buf, 4, timeout);
_mav_put_uint8_t(buf, 6, device);
_mav_put_uint8_t(buf, 7, flags);
_mav_put_uint8_t(buf, 8, count);
_mav_put_uint8_t_array(buf, 9, data, 70);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
#else
mavlink_serial_control_t packet;
packet.baudrate = baudrate;
packet.timeout = timeout;
packet.device = device;
packet.flags = flags;
packet.count = count;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_SERIAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_serial_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, baudrate);
_mav_put_uint16_t(buf, 4, timeout);
_mav_put_uint8_t(buf, 6, device);
_mav_put_uint8_t(buf, 7, flags);
_mav_put_uint8_t(buf, 8, count);
_mav_put_uint8_t_array(buf, 9, data, 70);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
#else
mavlink_serial_control_t *packet = (mavlink_serial_control_t *)msgbuf;
packet->baudrate = baudrate;
packet->timeout = timeout;
packet->device = device;
packet->flags = flags;
packet->count = count;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*70);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE SERIAL_CONTROL UNPACKING
/**
* @brief Get field device from serial_control message
*
* @return See SERIAL_CONTROL_DEV enum
*/
static inline uint8_t mavlink_msg_serial_control_get_device(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field flags from serial_control message
*
* @return See SERIAL_CONTROL_FLAG enum
*/
static inline uint8_t mavlink_msg_serial_control_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Get field timeout from serial_control message
*
* @return Timeout for reply data in milliseconds
*/
static inline uint16_t mavlink_msg_serial_control_get_timeout(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field baudrate from serial_control message
*
* @return Baudrate of transfer. Zero means no change.
*/
static inline uint32_t mavlink_msg_serial_control_get_baudrate(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field count from serial_control message
*
* @return how many bytes in this transfer
*/
static inline uint8_t mavlink_msg_serial_control_get_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Get field data from serial_control message
*
* @return serial data
*/
static inline uint16_t mavlink_msg_serial_control_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 70, 9);
}
/**
* @brief Decode a serial_control message into a struct
*
* @param msg The message to decode
* @param serial_control C-struct to decode the message contents into
*/
static inline void mavlink_msg_serial_control_decode(const mavlink_message_t* msg, mavlink_serial_control_t* serial_control)
{
#if MAVLINK_NEED_BYTE_SWAP
serial_control->baudrate = mavlink_msg_serial_control_get_baudrate(msg);
serial_control->timeout = mavlink_msg_serial_control_get_timeout(msg);
serial_control->device = mavlink_msg_serial_control_get_device(msg);
serial_control->flags = mavlink_msg_serial_control_get_flags(msg);
serial_control->count = mavlink_msg_serial_control_get_count(msg);
mavlink_msg_serial_control_get_data(msg, serial_control->data);
#else
memcpy(serial_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
#endif
}

54
libraries/GCS_MAVLink/include/mavlink/v1.0/common/testsuite.h
Unescape View File

@ -5083,6 +5083,59 @@ static void mavlink_test_power_status(uint8_t system_id, uint8_t component_id, m @@ -5083,6 +5083,59 @@ static void mavlink_test_power_status(uint8_t system_id, uint8_t component_id, m
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_serial_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_serial_control_t packet_in = {
963497464,
}17443,
}151,
}218,
}29,
}{ 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165 },
};
mavlink_serial_control_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.baudrate = packet_in.baudrate;
packet1.timeout = packet_in.timeout;
packet1.device = packet_in.device;
packet1.flags = packet_in.flags;
packet1.count = packet_in.count;
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*70);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_serial_control_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_serial_control_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_serial_control_pack(system_id, component_id, &msg , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data );
mavlink_msg_serial_control_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_serial_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data );
mavlink_msg_serial_control_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_serial_control_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_serial_control_send(MAVLINK_COMM_1 , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data );
mavlink_msg_serial_control_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
@ -5741,6 +5794,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink @@ -5741,6 +5794,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
mavlink_test_gps_inject_data(system_id, component_id, last_msg);
mavlink_test_gps2_raw(system_id, component_id, last_msg);
mavlink_test_power_status(system_id, component_id, last_msg);
mavlink_test_serial_control(system_id, component_id, last_msg);
mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
mavlink_test_encapsulated_data(system_id, component_id, last_msg);
mavlink_test_battery_status(system_id, component_id, last_msg);

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
Unescape View File

@ -5,7 +5,7 @@ @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 27 15:24:27 2014"
#define MAVLINK_BUILD_DATE "Fri Apr 4 14:54:52 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

Write Preview
Loading…
Cancel
Save