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125 lines
2.8 KiB
125 lines
2.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @file GCS_MAVLink.h |
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/// @brief One size fits all header for MAVLink integration. |
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#ifndef GCS_MAVLink_h |
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#define GCS_MAVLink_h |
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#include <BetterStream.h> |
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// we have separate helpers disabled to make it possible |
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// to select MAVLink 1.0 in the arduino GUI build |
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#define MAVLINK_SEPARATE_HELPERS |
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#include "include/mavlink/v1.0/ardupilotmega/version.h" |
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// this allows us to make mavlink_message_t much smaller |
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#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE |
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#define MAVLINK_COMM_NUM_BUFFERS 2 |
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#include "include/mavlink/v1.0/mavlink_types.h" |
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/// MAVLink stream used for HIL interaction |
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extern BetterStream *mavlink_comm_0_port; |
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/// MAVLink stream used for ground control communication |
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extern BetterStream *mavlink_comm_1_port; |
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/// MAVLink system definition |
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extern mavlink_system_t mavlink_system; |
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/// Send a byte to the nominated MAVLink channel |
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/// |
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/// @param chan Channel to send to |
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/// @param ch Byte to send |
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/// |
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static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch) |
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{ |
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switch(chan) { |
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case MAVLINK_COMM_0: |
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mavlink_comm_0_port->write(ch); |
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break; |
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case MAVLINK_COMM_1: |
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mavlink_comm_1_port->write(ch); |
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break; |
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default: |
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break; |
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} |
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} |
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/// Read a byte from the nominated MAVLink channel |
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/// |
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/// @param chan Channel to receive on |
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/// @returns Byte read |
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/// |
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static inline uint8_t comm_receive_ch(mavlink_channel_t chan) |
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{ |
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uint8_t data = 0; |
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switch(chan) { |
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case MAVLINK_COMM_0: |
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data = mavlink_comm_0_port->read(); |
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break; |
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case MAVLINK_COMM_1: |
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data = mavlink_comm_1_port->read(); |
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break; |
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default: |
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break; |
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} |
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return data; |
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} |
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/// Check for available data on the nominated MAVLink channel |
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/// |
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/// @param chan Channel to check |
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/// @returns Number of bytes available |
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static inline uint16_t comm_get_available(mavlink_channel_t chan) |
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{ |
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uint16_t bytes = 0; |
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switch(chan) { |
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case MAVLINK_COMM_0: |
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bytes = mavlink_comm_0_port->available(); |
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break; |
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case MAVLINK_COMM_1: |
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bytes = mavlink_comm_1_port->available(); |
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break; |
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default: |
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break; |
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} |
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return bytes; |
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} |
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/// Check for available transmit space on the nominated MAVLink channel |
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/// |
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/// @param chan Channel to check |
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/// @returns Number of bytes available |
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static inline uint16_t comm_get_txspace(mavlink_channel_t chan) |
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{ |
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int16_t ret = 0; |
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switch(chan) { |
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case MAVLINK_COMM_0: |
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ret = mavlink_comm_0_port->txspace(); |
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break; |
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case MAVLINK_COMM_1: |
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ret = mavlink_comm_1_port->txspace(); |
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break; |
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default: |
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break; |
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} |
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if (ret < 0) { |
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ret = 0; |
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} |
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return (uint16_t)ret; |
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} |
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#define MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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#include "include/mavlink/v1.0/ardupilotmega/mavlink.h" |
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uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid); |
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// return a MAVLink variable type given a AP_Param type |
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uint8_t mav_var_type(enum ap_var_type t); |
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#endif // GCS_MAVLink_h
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