#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

Macros
#define	MAVLINK_HAVE_MAX_MESSAGE_LENGTH

#define	MAVLINK_HAVE_MIN_MESSAGE_LENGTH

#define	MAVLINK_HELPER

Functions
static void	_mav_parse_error (mavlink_status_t *status)

MAVLINK_HELPER uint8_t	_mav_trim_payload (const char *payload, uint8_t length)
	Trim payload of any trailing zero-populated bytes (MAVLink 2 only). More...

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. More...

MAVLINK_HELPER uint16_t	mavlink_finalize_message_buffer (mavlink_message_t msg, uint8_t system_id, uint8_t component_id, mavlink_status_t status, uint8_t min_length, uint8_t length, uint8_t crc_extra)
	Finalize a MAVLink message with channel assignment. More...

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)

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 unsigned int	mavlink_get_proto_version (uint8_t chan)

MAVLINK_HELPER uint8_t	mavlink_max_message_length (const mavlink_message_t *msg)

MAVLINK_HELPER uint8_t	mavlink_min_message_length (const mavlink_message_t *msg)

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. More...

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. More...

MAVLINK_HELPER void	mavlink_set_proto_version (uint8_t chan, unsigned int version)

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 More...

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 More...

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. More...

Macro Definition Documentation

#define MAVLINK_HAVE_MAX_MESSAGE_LENGTH

Definition at line 542 of file include_v2.0/mavlink_helpers.h.

#define MAVLINK_HAVE_MIN_MESSAGE_LENGTH

Definition at line 532 of file include_v2.0/mavlink_helpers.h.

#define MAVLINK_HELPER

Definition at line 10 of file include_v2.0/mavlink_helpers.h.

Function Documentation

static void _mav_parse_error ( mavlink_status_t * status )

inlinestatic

Definition at line 283 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t _mav_trim_payload	(	const char *	payload,
		uint8_t	length
	)

Trim payload of any trailing zero-populated bytes (MAVLink 2 only).

Parameters

payload	Serialised payload buffer.
length	Length of full-width payload buffer.

Returns: Length of payload after zero-filled bytes are trimmed.

Definition at line 101 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 277 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer	(	mavlink_message_t *	msg,
		uint8_t	system_id,
		uint8_t	component_id,
		mavlink_status_t *	status,
		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 204 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
	)

Definition at line 267 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 *r_message and the channel's status is copied into *r_mavlink_status.

Parameters

chan	ID of the channel to be parsed. A channel is not a physical message channel like a serial port, but a logical partition of the communication streams. 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
r_message	NULL if no message could be decoded, otherwise the message data
r_mavlink_status	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_status_t status;
 mavlink_message_t msg;
 int chan = 0;
 
 
 while(serial.bytesAvailable > 0)
 {
   uint8_t byte = serial.getNextByte();
   if (mavlink_frame_char(chan, byte, &msg, &status) != 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 895 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 variant 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 status buffer
c	The char to parse
r_message	NULL if no message could be decoded, otherwise the message data
r_mavlink_status	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

Definition at line 563 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer ( uint8_t chan )

Definition at line 39 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status ( uint8_t chan )

Definition at line 23 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_get_crc_extra ( const mavlink_message_t * msg )

Definition at line 523 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER const mavlink_msg_entry_t* mavlink_get_msg_entry ( uint32_t msgid )

Return message entry data for msgid.

Note: user of MAVLink library should provide implementation for this function. Use mavlink::<dialect-name>::MESSAGE_ENTRIES array to make hash map.

Returns: nullptr if message is unknown

Definition at line 491 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER unsigned int mavlink_get_proto_version ( uint8_t chan )

Get the protocol version

Returns: 1 for v1, 2 for v2

Definition at line 922 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_max_message_length ( const mavlink_message_t * msg )

Definition at line 543 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER uint8_t mavlink_min_message_length ( const mavlink_message_t * msg )

Definition at line 533 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 420 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 *r_message and the channel's status is copied into *r_mavlink_status.

Parameters

chan	ID of the channel to be parsed. A channel is not a physical message channel like a serial port, but a logical partition of the communication streams. 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
r_message	NULL if no message could be decoded, otherwise the message data
r_mavlink_status	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_status_t status;
 mavlink_message_t msg;
 int chan = 0;
 
 
 while(serial.bytesAvailable > 0)
 {
   uint8_t byte = serial.getNextByte();
   if (mavlink_parse_char(chan, byte, &msg, &status))
     {
     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 973 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 55 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER void mavlink_set_proto_version	(	uint8_t	chan,
		unsigned int	version
	)

Set the protocol version

Definition at line 907 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 64 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 112 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER void mavlink_start_checksum ( mavlink_message_t * msg )

Definition at line 473 of file include_v2.0/mavlink_helpers.h.

MAVLINK_HELPER void mavlink_update_checksum	(	mavlink_message_t *	msg,
		uint8_t	c
	)

Definition at line 480 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 1005 of file include_v2.0/mavlink_helpers.h.

Classes

Macros

Functions

Macro Definition Documentation

Function Documentation