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89 lines
3.1 KiB
89 lines
3.1 KiB
/**************************************************************************** |
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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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