include_v0.9/protocol.h
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1 #ifndef _MAVLINK_PROTOCOL_H_
2 #define _MAVLINK_PROTOCOL_H_
3 
4 #include "string.h"
5 #include "mavlink_types.h"
6 
7 /*
8  If you want MAVLink on a system that is native big-endian,
9  you need to define NATIVE_BIG_ENDIAN
10 */
11 #ifdef NATIVE_BIG_ENDIAN
12 # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
13 #else
14 # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
15 #endif
16 
17 #ifndef MAVLINK_STACK_BUFFER
18 #define MAVLINK_STACK_BUFFER 0
19 #endif
20 
21 #ifndef MAVLINK_AVOID_GCC_STACK_BUG
22 # define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
23 #endif
24 
25 #ifndef MAVLINK_ASSERT
26 #define MAVLINK_ASSERT(x)
27 #endif
28 
29 #ifndef MAVLINK_START_UART_SEND
30 #define MAVLINK_START_UART_SEND(chan, length)
31 #endif
32 
33 #ifndef MAVLINK_END_UART_SEND
34 #define MAVLINK_END_UART_SEND(chan, length)
35 #endif
36 
37 #ifdef MAVLINK_SEPARATE_HELPERS
38 #define MAVLINK_HELPER
39 #else
40 #define MAVLINK_HELPER static inline
41 #include "mavlink_helpers.h"
42 #endif // MAVLINK_SEPARATE_HELPERS
43 
44 /* always include the prototypes to ensure we don't get out of sync */
45 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
46 #if MAVLINK_CRC_EXTRA
47 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
48  uint8_t chan, uint8_t length, uint8_t crc_extra);
49 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
50  uint8_t length, uint8_t crc_extra);
51 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
52 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
53  uint8_t length, uint8_t crc_extra);
54 #endif
55 #else
56 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
57  uint8_t chan, uint8_t length);
58 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
59  uint8_t length);
60 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
61 #endif // MAVLINK_CRC_EXTRA
62 MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
63 MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
64 MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
65 MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
66 MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
67  uint8_t* r_bit_index, uint8_t* buffer);
68 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
69 MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
70 MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
71 #endif
72 
76 static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
77 {
78  return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
79 }
80 
81 #if MAVLINK_NEED_BYTE_SWAP
82 static inline void byte_swap_2(char *dst, const char *src)
83 {
84  dst[0] = src[1];
85  dst[1] = src[0];
86 }
87 static inline void byte_swap_4(char *dst, const char *src)
88 {
89  dst[0] = src[3];
90  dst[1] = src[2];
91  dst[2] = src[1];
92  dst[3] = src[0];
93 }
94 static inline void byte_swap_8(char *dst, const char *src)
95 {
96  dst[0] = src[7];
97  dst[1] = src[6];
98  dst[2] = src[5];
99  dst[3] = src[4];
100  dst[4] = src[3];
101  dst[5] = src[2];
102  dst[6] = src[1];
103  dst[7] = src[0];
104 }
105 #elif !MAVLINK_ALIGNED_FIELDS
106 static inline void byte_copy_2(char *dst, const char *src)
107 {
108  dst[0] = src[0];
109  dst[1] = src[1];
110 }
111 static inline void byte_copy_4(char *dst, const char *src)
112 {
113  dst[0] = src[0];
114  dst[1] = src[1];
115  dst[2] = src[2];
116  dst[3] = src[3];
117 }
118 static inline void byte_copy_8(char *dst, const char *src)
119 {
120  memcpy(dst, src, 8);
121 }
122 #endif
123 
124 #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
125 #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
126 #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
127 
128 #if MAVLINK_NEED_BYTE_SWAP
129 #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
130 #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
131 #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
132 #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
133 #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
134 #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
135 #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
136 #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
137 #elif !MAVLINK_ALIGNED_FIELDS
138 #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
139 #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
140 #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
141 #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
142 #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
143 #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
144 #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
145 #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
146 #else
147 #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
148 #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
149 #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
150 #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
151 #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
152 #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
153 #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
154 #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
155 #endif
156 
157 /*
158  like memcpy(), but if src is NULL, do a memset to zero
159 */
160 static void mav_array_memcpy(void *dest, const void *src, size_t n)
161 {
162  if (src == NULL) {
163  memset(dest, 0, n);
164  } else {
165  memcpy(dest, src, n);
166  }
167 }
168 
169 /*
170  * Place a char array into a buffer
171  */
172 static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
173 {
174  mav_array_memcpy(&buf[wire_offset], b, array_length);
175 
176 }
177 
178 /*
179  * Place a uint8_t array into a buffer
180  */
181 static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
182 {
183  mav_array_memcpy(&buf[wire_offset], b, array_length);
184 
185 }
186 
187 /*
188  * Place a int8_t array into a buffer
189  */
190 static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
191 {
192  mav_array_memcpy(&buf[wire_offset], b, array_length);
193 
194 }
195 
196 #if MAVLINK_NEED_BYTE_SWAP
197 #define _MAV_PUT_ARRAY(TYPE, V) \
198 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
199 { \
200  if (b == NULL) { \
201  memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
202  } else { \
203  uint16_t i; \
204  for (i=0; i<array_length; i++) { \
205  _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
206  } \
207  } \
208 }
209 #else
210 #define _MAV_PUT_ARRAY(TYPE, V) \
211 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
212 { \
213  mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
214 }
215 #endif
216 
217 _MAV_PUT_ARRAY(uint16_t, u16)
218 _MAV_PUT_ARRAY(uint32_t, u32)
219 _MAV_PUT_ARRAY(uint64_t, u64)
220 _MAV_PUT_ARRAY(int16_t, i16)
221 _MAV_PUT_ARRAY(int32_t, i32)
222 _MAV_PUT_ARRAY(int64_t, i64)
223 _MAV_PUT_ARRAY(float, f)
224 _MAV_PUT_ARRAY(double, d)
225 
226 #define _MAV_RETURN_char(msg, wire_offset) (char)_MAV_PAYLOAD(msg)[wire_offset]
227 #define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
228 #define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
229 
230 #if MAVLINK_NEED_BYTE_SWAP
231 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
232 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
233 { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
234 
235 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
236 _MAV_MSG_RETURN_TYPE(int16_t, 2)
237 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
238 _MAV_MSG_RETURN_TYPE(int32_t, 4)
239 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
240 _MAV_MSG_RETURN_TYPE(int64_t, 8)
241 _MAV_MSG_RETURN_TYPE(float, 4)
242 _MAV_MSG_RETURN_TYPE(double, 8)
243 
244 #elif !MAVLINK_ALIGNED_FIELDS
245 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
246 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
247 { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
248 
249 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
250 _MAV_MSG_RETURN_TYPE(int16_t, 2)
251 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
252 _MAV_MSG_RETURN_TYPE(int32_t, 4)
253 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
254 _MAV_MSG_RETURN_TYPE(int64_t, 8)
255 _MAV_MSG_RETURN_TYPE(float, 4)
256 _MAV_MSG_RETURN_TYPE(double, 8)
257 #else // nicely aligned, no swap
258 #define _MAV_MSG_RETURN_TYPE(TYPE) \
259 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
260 { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
261 
262 _MAV_MSG_RETURN_TYPE(uint16_t)
263 _MAV_MSG_RETURN_TYPE(int16_t)
264 _MAV_MSG_RETURN_TYPE(uint32_t)
265 _MAV_MSG_RETURN_TYPE(int32_t)
266 _MAV_MSG_RETURN_TYPE(uint64_t)
267 _MAV_MSG_RETURN_TYPE(int64_t)
268 _MAV_MSG_RETURN_TYPE(float)
269 _MAV_MSG_RETURN_TYPE(double)
270 #endif // MAVLINK_NEED_BYTE_SWAP
271 
272 static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
273  uint8_t array_length, uint8_t wire_offset)
274 {
275  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
276  return array_length;
277 }
278 
279 static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
280  uint8_t array_length, uint8_t wire_offset)
281 {
282  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
283  return array_length;
284 }
285 
286 static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
287  uint8_t array_length, uint8_t wire_offset)
288 {
289  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
290  return array_length;
291 }
292 
293 #if MAVLINK_NEED_BYTE_SWAP
294 #define _MAV_RETURN_ARRAY(TYPE, V) \
295 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
296  uint8_t array_length, uint8_t wire_offset) \
297 { \
298  uint16_t i; \
299  for (i=0; i<array_length; i++) { \
300  value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
301  } \
302  return array_length*sizeof(value[0]); \
303 }
304 #else
305 #define _MAV_RETURN_ARRAY(TYPE, V) \
306 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
307  uint8_t array_length, uint8_t wire_offset) \
308 { \
309  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
310  return array_length*sizeof(TYPE); \
311 }
312 #endif
313 
314 _MAV_RETURN_ARRAY(uint16_t, u16)
315 _MAV_RETURN_ARRAY(uint32_t, u32)
316 _MAV_RETURN_ARRAY(uint64_t, u64)
317 _MAV_RETURN_ARRAY(int16_t, i16)
318 _MAV_RETURN_ARRAY(int32_t, i32)
319 _MAV_RETURN_ARRAY(int64_t, i64)
320 _MAV_RETURN_ARRAY(float, f)
321 _MAV_RETURN_ARRAY(double, d)
322 
323 #endif // _MAVLINK_PROTOCOL_H_
mavlink_update_checksum
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t *msg, uint8_t c)
Definition: include_v0.9/mavlink_helpers.h:178
_MAV_RETURN_int8_t_array
static uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, uint8_t array_length, uint8_t wire_offset)
Definition: include_v0.9/protocol.h:286
put_bitfield_n_by_index
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.
Definition: include_v0.9/mavlink_helpers.h:420
mavlink_get_channel_status
MAVLINK_HELPER mavlink_status_t * mavlink_get_channel_status(uint8_t chan)
Definition: include_v0.9/mavlink_helpers.h:15
MAVLINK_HELPER
#define MAVLINK_HELPER
Definition: include_v0.9/protocol.h:40
__mavlink_status
Definition: include_v0.9/mavlink_types.h:308
_MAV_RETURN_char_array
static uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, uint8_t array_length, uint8_t wire_offset)
Definition: include_v0.9/protocol.h:272
mavlink_helpers.h
_MAV_RETURN_uint8_t_array
static uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, uint8_t array_length, uint8_t wire_offset)
Definition: include_v0.9/protocol.h:279
mavlink_msg_get_send_buffer_length
static uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t *msg)
Get the required buffer size for this message.
Definition: include_v0.9/protocol.h:76
mavlink_start_checksum
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t *msg)
Definition: include_v0.9/mavlink_helpers.h:173
mavlink_channel_t
mavlink_channel_t
Definition: include_v0.9/mavlink_types.h:275
mavlink_parse_char
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t *r_message, mavlink_status_t *r_mavlink_status)
Definition: include_v0.9/mavlink_helpers.h:219
_MAV_MSG_RETURN_TYPE
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE)
Definition: include_v0.9/protocol.h:231
byte_swap_2
static void byte_swap_2(char *dst, const char *src)
Definition: include_v0.9/protocol.h:82
MAVLINK_NUM_NON_PAYLOAD_BYTES
#define MAVLINK_NUM_NON_PAYLOAD_BYTES
Definition: include_v0.9/mavlink_types.h:179
_mav_put_char_array
static void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
Definition: include_v0.9/protocol.h:172
mavlink_finalize_message_chan
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 length)
Finalize a MAVLink message with channel assignment.
Definition: include_v0.9/mavlink_helpers.h:55
_MAV_RETURN_ARRAY
#define _MAV_RETURN_ARRAY(TYPE, V)
Definition: include_v0.9/protocol.h:294
byte_swap_8
static void byte_swap_8(char *dst, const char *src)
Definition: include_v0.9/protocol.h:94
mav_array_memcpy
static void mav_array_memcpy(void *dest, const void *src, size_t n)
Definition: include_v0.9/protocol.h:160
mavlink_finalize_message
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t length)
Finalize a MAVLink message with MAVLINK_COMM_0 as default channel.
Definition: include_v0.9/mavlink_helpers.h:89
mavlink_msg_to_send_buffer
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
Pack a message to send it over a serial byte stream.
Definition: include_v0.9/mavlink_helpers.h:157
__mavlink_message
Definition: include_v0.9/mavlink_types.h:216
_mav_finalize_message_chan_send
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
_MAV_PAYLOAD
#define _MAV_PAYLOAD(msg)
Definition: include_v0.9/mavlink_types.h:268
_mav_put_int8_t_array
static void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
Definition: include_v0.9/protocol.h:190
byte_swap_4
static void byte_swap_4(char *dst, const char *src)
Definition: include_v0.9/protocol.h:87
__mavlink_message::len
uint8_t len
Length of payload.
Definition: include_v0.9/mavlink_types.h:219
mavlink_types.h
_MAV_PUT_ARRAY
#define _MAV_PUT_ARRAY(TYPE, V)
Definition: include_v0.9/protocol.h:197
_mav_put_uint8_t_array
static void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
Definition: include_v0.9/protocol.h:181

mavlink
Author(s): Lorenz Meier
autogenerated on Sun Apr 7 2019 02:06:02