You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
77 lines
2.3 KiB
77 lines
2.3 KiB
/// @file GCS_MAVLink.h |
|
/// @brief One size fits all header for MAVLink integration. |
|
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL_Boards.h> |
|
|
|
// we have separate helpers disabled to make it possible |
|
// to select MAVLink 1.0 in the arduino GUI build |
|
#define MAVLINK_SEPARATE_HELPERS |
|
#define MAVLINK_NO_CONVERSION_HELPERS |
|
|
|
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len) |
|
|
|
#define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size) |
|
#define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan) |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
|
// allow extra mavlink channels in SITL for: |
|
// Vicon, ship |
|
#define MAVLINK_COMM_NUM_BUFFERS 7 |
|
#else |
|
// allow five telemetry ports |
|
#define MAVLINK_COMM_NUM_BUFFERS 5 |
|
#endif |
|
|
|
/* |
|
The MAVLink protocol code generator does its own alignment, so |
|
alignment cast warnings can be ignored |
|
*/ |
|
#pragma GCC diagnostic push |
|
#pragma GCC diagnostic ignored "-Wcast-align" |
|
|
|
#if defined(__GNUC__) && __GNUC__ >= 9 |
|
#pragma GCC diagnostic ignored "-Waddress-of-packed-member" |
|
#endif |
|
|
|
#include "include/mavlink/v2.0/all/version.h" |
|
|
|
#define MAVLINK_MAX_PAYLOAD_LEN 255 |
|
|
|
#include "include/mavlink/v2.0/mavlink_types.h" |
|
|
|
/// MAVLink stream used for uartA |
|
extern AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS]; |
|
extern bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS]; |
|
|
|
/// MAVLink system definition |
|
extern mavlink_system_t mavlink_system; |
|
|
|
/// Sanity check MAVLink channel |
|
/// |
|
/// @param chan Channel to send to |
|
static inline bool valid_channel(mavlink_channel_t chan) |
|
{ |
|
#pragma clang diagnostic push |
|
#pragma clang diagnostic ignored "-Wtautological-constant-out-of-range-compare" |
|
return chan < MAVLINK_COMM_NUM_BUFFERS; |
|
#pragma clang diagnostic pop |
|
} |
|
|
|
void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len); |
|
|
|
/// 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); |
|
|
|
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS |
|
#include "include/mavlink/v2.0/all/mavlink.h" |
|
|
|
// lock and unlock a channel, for multi-threaded mavlink send |
|
void comm_send_lock(mavlink_channel_t chan, uint16_t size); |
|
void comm_send_unlock(mavlink_channel_t chan); |
|
HAL_Semaphore &comm_chan_lock(mavlink_channel_t chan); |
|
|
|
#pragma GCC diagnostic pop
|
|
|