#include "string.h"
#include "checksum.h"
#include "mavlink_types.h"
#include "mavlink_conversions.h"
#include <stdio.h>
#include "mavlink_sha256.h"

Include dependency graph for include_v2.0/mavlink_helpers.h:

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Go to the source code of this file.

Classes
union	__mavlink_bitfield
Defines
#define	MAVLINK_HAVE_EXPECTED_MESSAGE_LENGTH
#define	MAVLINK_HELPER
Functions
static void	_mav_parse_error (mavlink_status_t *status)
MAVLINK_HELPER uint8_t	mavlink_expected_message_length (const mavlink_message_t *msg)
MAVLINK_HELPER uint16_t	mavlink_finalize_message (mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t min_length, uint8_t length, uint8_t crc_extra)
	Finalize a MAVLink message with MAVLINK_COMM_0 as default channel.
MAVLINK_HELPER uint16_t	mavlink_finalize_message_chan (mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra)
	Finalize a MAVLink message with channel assignment.
MAVLINK_HELPER uint8_t	mavlink_frame_char (uint8_t chan, uint8_t c, mavlink_message_t r_message, mavlink_status_t r_mavlink_status)
MAVLINK_HELPER uint8_t	mavlink_frame_char_buffer (mavlink_message_t rxmsg, mavlink_status_t status, uint8_t c, mavlink_message_t r_message, mavlink_status_t r_mavlink_status)
MAVLINK_HELPER mavlink_message_t *	mavlink_get_channel_buffer (uint8_t chan)
MAVLINK_HELPER mavlink_status_t *	mavlink_get_channel_status (uint8_t chan)
MAVLINK_HELPER uint8_t	mavlink_get_crc_extra (const mavlink_message_t *msg)
MAVLINK_HELPER const mavlink_msg_entry_t *	mavlink_get_msg_entry (uint32_t msgid)
MAVLINK_HELPER uint16_t	mavlink_msg_to_send_buffer (uint8_t buf, const mavlink_message_t msg)
	Pack a message to send it over a serial byte stream.
MAVLINK_HELPER uint8_t	mavlink_parse_char (uint8_t chan, uint8_t c, mavlink_message_t r_message, mavlink_status_t r_mavlink_status)
MAVLINK_HELPER void	mavlink_reset_channel_status (uint8_t chan)
	Reset the status of a channel.
MAVLINK_HELPER uint8_t	mavlink_sign_packet (mavlink_signing_t signing, uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN], const uint8_t header, uint8_t header_len, const uint8_t *packet, uint8_t packet_len, const uint8_t crc[2])
	create a signature block for a packet
MAVLINK_HELPER bool	mavlink_signature_check (mavlink_signing_t signing, mavlink_signing_streams_t signing_streams, const mavlink_message_t *msg)
	check a signature block for a packet
MAVLINK_HELPER void	mavlink_start_checksum (mavlink_message_t *msg)
MAVLINK_HELPER void	mavlink_update_checksum (mavlink_message_t *msg, uint8_t c)
MAVLINK_HELPER uint8_t	put_bitfield_n_by_index (int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t r_bit_index, uint8_t buffer)
	Put a bitfield of length 1-32 bit into the buffer.

Define Documentation

#define MAVLINK_HAVE_EXPECTED_MESSAGE_LENGTH

Definition at line 467 of file include_v2.0/mavlink_helpers.h.

#define MAVLINK_HELPER

Definition at line 11 of file include_v2.0/mavlink_helpers.h.

Function Documentation

static void _mav_parse_error ( mavlink_status_t * status ) [inline, static]

Definition at line 257 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_expected_message_length ( const mavlink_message_t * msg )

Definition at line 468 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint16_t mavlink_finalize_message	(	mavlink_message_t *	msg,
		uint8_t	system_id,
		uint8_t	component_id,
		uint8_t	min_length,
		uint8_t	length,
		uint8_t	crc_extra
	)

Finalize a MAVLink message with MAVLINK_COMM_0 as default channel.

Definition at line 251 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint16_t mavlink_finalize_message_chan	(	mavlink_message_t *	msg,
		uint8_t	system_id,
		uint8_t	component_id,
		uint8_t	chan,
		uint8_t	min_length,
		uint8_t	length,
		uint8_t	crc_extra
	)

Finalize a MAVLink message with channel assignment.

This function calculates the checksum and sets length and aircraft id correctly. It assumes that the message id and the payload are already correctly set. This function can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.

Parameters:

msg	Message to finalize
system_id	Id of the sending (this) system, 1-127
length	Message length

Definition at line 185 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_frame_char	(	uint8_t	chan,
		uint8_t	c,
		mavlink_message_t *	r_message,
		mavlink_status_t *	r_mavlink_status
	)

This is a convenience function which handles the complete MAVLink parsing. the function will parse one byte at a time and return the complete packet once it could be successfully decoded. This function will return 0, 1 or 2 (MAVLINK_FRAMING_INCOMPLETE, MAVLINK_FRAMING_OK or MAVLINK_FRAMING_BAD_CRC)

Messages are parsed into an internal buffer (one for each channel). When a complete message is received it is copies into *returnMsg and the channel's status is copied into *returnStats.

Parameters:

chan	ID of the current channel. This allows to parse different channels with this function. a channel is not a physical message channel like a serial port, but a logic partition of the communication streams in this case. COMM_NB is the limit for the number of channels on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
c	The char to parse
returnMsg	NULL if no message could be decoded, the message data else
returnStats	if a message was decoded, this is filled with the channel's stats

Returns:: 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC

A typical use scenario of this function call is:

 #include <mavlink.h>

 mavlink_message_t msg;
 int chan = 0;


 while(serial.bytesAvailable > 0)
 {
   uint8_t byte = serial.getNextByte();
   if (mavlink_frame_char(chan, byte, &msg) != MAVLINK_FRAMING_INCOMPLETE)
     {
     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
     }
 }

Definition at line 806 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_frame_char_buffer	(	mavlink_message_t *	rxmsg,
		mavlink_status_t *	status,
		uint8_t	c,
		mavlink_message_t *	r_message,
		mavlink_status_t *	r_mavlink_status
	)

This is a varient of mavlink_frame_char() but with caller supplied parsing buffers. It is useful when you want to create a MAVLink parser in a library that doesn't use any global variables

Parameters:

rxmsg	parsing message buffer
status	parsing starus buffer
c	The char to parse
returnMsg	NULL if no message could be decoded, the message data else
returnStats	if a message was decoded, this is filled with the channel's stats

Returns:: 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC

A typical use scenario of this function call is:

 #include <mavlink.h>

 mavlink_message_t msg;
 int chan = 0;


 while(serial.bytesAvailable > 0)
 {
   uint8_t byte = serial.getNextByte();
   if (mavlink_frame_char(chan, byte, &msg) != MAVLINK_FRAMING_INCOMPLETE)
     {
     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
     }
 }

Definition at line 508 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer ( uint8_t chan )

Definition at line 36 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status ( uint8_t chan )

Definition at line 20 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_get_crc_extra ( const mavlink_message_t * msg )

Definition at line 458 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER const mavlink_msg_entry_t* mavlink_get_msg_entry ( uint32_t msgid )

Definition at line 427 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer	(	uint8_t *	buf,
		const mavlink_message_t *	msg
	)

Pack a message to send it over a serial byte stream.

Definition at line 363 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_parse_char	(	uint8_t	chan,
		uint8_t	c,
		mavlink_message_t *	r_message,
		mavlink_status_t *	r_mavlink_status
	)

This is a convenience function which handles the complete MAVLink parsing. the function will parse one byte at a time and return the complete packet once it could be successfully decoded. This function will return 0 or 1.

Messages are parsed into an internal buffer (one for each channel). When a complete message is received it is copies into *returnMsg and the channel's status is copied into *returnStats.

Parameters:

chan	ID of the current channel. This allows to parse different channels with this function. a channel is not a physical message channel like a serial port, but a logic partition of the communication streams in this case. COMM_NB is the limit for the number of channels on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
c	The char to parse
returnMsg	NULL if no message could be decoded, the message data else
returnStats	if a message was decoded, this is filled with the channel's stats

Returns:: 0 if no message could be decoded or bad CRC, 1 on good message and CRC

A typical use scenario of this function call is:

 #include <mavlink.h>

 mavlink_message_t msg;
 int chan = 0;


 while(serial.bytesAvailable > 0)
 {
   uint8_t byte = serial.getNextByte();
   if (mavlink_parse_char(chan, byte, &msg))
     {
     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
     }
 }

< The currently decoded message

< The current decode status

Definition at line 856 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER void mavlink_reset_channel_status ( uint8_t chan )

Reset the status of a channel.

Definition at line 52 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_sign_packet	(	mavlink_signing_t *	signing,
		uint8_t	signature[MAVLINK_SIGNATURE_BLOCK_LEN],
		const uint8_t *	header,
		uint8_t	header_len,
		const uint8_t *	packet,
		uint8_t	packet_len,
		const uint8_t	crc[2]
	)

create a signature block for a packet

Definition at line 61 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER bool mavlink_signature_check	(	mavlink_signing_t *	signing,
		mavlink_signing_streams_t *	signing_streams,
		const mavlink_message_t *	msg
	)

check a signature block for a packet

Definition at line 94 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER void mavlink_start_checksum ( mavlink_message_t * msg )

Definition at line 414 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER void mavlink_update_checksum	(	mavlink_message_t *	msg,
		uint8_t	c
	)

Definition at line 419 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t put_bitfield_n_by_index	(	int32_t	b,
		uint8_t	bits,
		uint8_t	packet_index,
		uint8_t	bit_index,
		uint8_t *	r_bit_index,
		uint8_t *	buffer
	)

Put a bitfield of length 1-32 bit into the buffer.

Parameters:

b	the value to add, will be encoded in the bitfield
bits	number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
packet_index	the position in the packet (the index of the first byte to use)
bit_index	the position in the byte (the index of the first bit to use)
buffer	packet buffer to write into

Returns:: new position of the last used byte in the buffer

Definition at line 888 of file include_v2.0/mavlink_helpers.h.

Classes

Defines

Functions

Define Documentation

Function Documentation