Library wrapper for MAVLink protocol bits.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@924 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/GCS_MAVLink/GCS_MAVLink.cpp

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	GCS_MAVLink.cpp
+/// @brief	Supporting bits for MAVLink.
+
+#include "GCS_MAVLink.h"
+
+Stream	*mavlink_comm_0_port;
+Stream	*mavlink_comm_1_port;
+
+// this might need to move to the flight software
+mavlink_system_t mavlink_system = {7,1,0,0};

libraries/GCS_MAVLink/GCS_MAVLink.h

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	GCS_MAVLink.h
+/// @brief	One size fits all header for MAVLink integration.
+
+#ifndef GCS_MAVLink_h
+#define GCS_MAVlink_h
+
+#include <Stream.h>
+#include "include/mavlink_types.h"
+
+/// MAVLink stream used for HIL interaction
+extern Stream	*mavlink_comm_0_port;
+
+/// MAVLink stream used for ground control communication
+extern Stream	*mavlink_comm_1_port;
+
+/// MAVLink system definition
+extern mavlink_system_t mavlink_system;
+
+/// Send a byte to the nominated MAVLink channel
+///
+/// @param chan		Channel to send to
+/// @param ch		Byte to send
+///
+static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+    switch(chan) {
+	case MAVLINK_COMM_0:
+		mavlink_comm_0_port->write(ch);
+		break;
+	case MAVLINK_COMM_1:
+		mavlink_comm_1_port->write(ch);
+		break;
+	}
+}
+
+/// Read a byte from the nominated MAVLink channel
+///
+/// @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;
+	}
+    return data;
+}
+
+/// 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)
+{
+    uint16_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;
+	}
+    return bytes;
+}
+
+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+#include "include/ardupilotmega/mavlink.h"
+
+#endif // GCS_MAVLink_h