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 /* option to provide alternative implementation of mavlink_helpers.h */
38 #ifdef MAVLINK_SEPARATE_HELPERS
39 
40  #define MAVLINK_HELPER
41 
42  /* decls in sync with those in mavlink_helpers.h */
43  #ifndef MAVLINK_GET_CHANNEL_STATUS
44  MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
45  #endif
46  MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
47  #if MAVLINK_CRC_EXTRA
48  MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
49  uint8_t chan, uint8_t length, uint8_t crc_extra);
50  MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
51  uint8_t length, uint8_t crc_extra);
52  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
53  MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
54  uint8_t length, uint8_t crc_extra);
55  #endif
56  #else
57  MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
58  uint8_t chan, uint8_t length);
59  MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
60  uint8_t length);
61  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
62  MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
63  #endif
64  #endif // MAVLINK_CRC_EXTRA
65  MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
66  MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
67  MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
68  MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
69  mavlink_status_t* status,
70  uint8_t c,
71  mavlink_message_t* r_message,
72  mavlink_status_t* r_mavlink_status);
73  MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
74  MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
75  MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
76  uint8_t* r_bit_index, uint8_t* buffer);
77  #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
78  MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
79  MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
80  #endif
81 
82 #else
83 
84  #define MAVLINK_HELPER static inline
85  #include "mavlink_helpers.h"
86 
87 #endif // MAVLINK_SEPARATE_HELPERS
88 
92 static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
93 {
94  return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
95 }
96 
97 #if MAVLINK_NEED_BYTE_SWAP
98 static inline void byte_swap_2(char *dst, const char *src)
99 {
100  dst[0] = src[1];
101  dst[1] = src[0];
102 }
103 static inline void byte_swap_4(char *dst, const char *src)
104 {
105  dst[0] = src[3];
106  dst[1] = src[2];
107  dst[2] = src[1];
108  dst[3] = src[0];
109 }
110 static inline void byte_swap_8(char *dst, const char *src)
111 {
112  dst[0] = src[7];
113  dst[1] = src[6];
114  dst[2] = src[5];
115  dst[3] = src[4];
116  dst[4] = src[3];
117  dst[5] = src[2];
118  dst[6] = src[1];
119  dst[7] = src[0];
120 }
121 #elif !MAVLINK_ALIGNED_FIELDS
122 static inline void byte_copy_2(char *dst, const char *src)
123 {
124  dst[0] = src[0];
125  dst[1] = src[1];
126 }
127 static inline void byte_copy_4(char *dst, const char *src)
128 {
129  dst[0] = src[0];
130  dst[1] = src[1];
131  dst[2] = src[2];
132  dst[3] = src[3];
133 }
134 static inline void byte_copy_8(char *dst, const char *src)
135 {
136  memcpy(dst, src, 8);
137 }
138 #endif
139 
140 #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
141 #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
142 #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
143 
144 #if MAVLINK_NEED_BYTE_SWAP
145 #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
146 #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
147 #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
148 #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
149 #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
150 #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
151 #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
152 #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
153 #elif !MAVLINK_ALIGNED_FIELDS
154 #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
155 #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
156 #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
157 #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
158 #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
159 #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
160 #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
161 #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
162 #else
163 #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
164 #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
165 #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
166 #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
167 #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
168 #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
169 #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
170 #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
171 #endif
172 
173 /*
174  like memcpy(), but if src is NULL, do a memset to zero
175 */
176 static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
177 {
178  if (src == NULL) {
179  memset(dest, 0, n);
180  } else {
181  memcpy(dest, src, n);
182  }
183 }
184 
185 /*
186  * Place a char array into a buffer
187  */
188 static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
189 {
190  mav_array_memcpy(&buf[wire_offset], b, array_length);
191 
192 }
193 
194 /*
195  * Place a uint8_t array into a buffer
196  */
197 static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
198 {
199  mav_array_memcpy(&buf[wire_offset], b, array_length);
200 
201 }
202 
203 /*
204  * Place a int8_t array into a buffer
205  */
206 static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
207 {
208  mav_array_memcpy(&buf[wire_offset], b, array_length);
209 
210 }
211 
212 #if MAVLINK_NEED_BYTE_SWAP
213 #define _MAV_PUT_ARRAY(TYPE, V) \
214 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
215 { \
216  if (b == NULL) { \
217  memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
218  } else { \
219  uint16_t i; \
220  for (i=0; i<array_length; i++) { \
221  _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
222  } \
223  } \
224 }
225 #else
226 #define _MAV_PUT_ARRAY(TYPE, V) \
227 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
228 { \
229  mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
230 }
231 #endif
232 
233 _MAV_PUT_ARRAY(uint16_t, u16)
234 _MAV_PUT_ARRAY(uint32_t, u32)
235 _MAV_PUT_ARRAY(uint64_t, u64)
236 _MAV_PUT_ARRAY(int16_t, i16)
237 _MAV_PUT_ARRAY(int32_t, i32)
238 _MAV_PUT_ARRAY(int64_t, i64)
239 _MAV_PUT_ARRAY(float, f)
240 _MAV_PUT_ARRAY(double, d)
241 
242 #define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
243 #define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
244 #define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
245 
246 #if MAVLINK_NEED_BYTE_SWAP
247 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
248 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
249 { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
250 
251 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
252 _MAV_MSG_RETURN_TYPE(int16_t, 2)
253 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
254 _MAV_MSG_RETURN_TYPE(int32_t, 4)
255 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
256 _MAV_MSG_RETURN_TYPE(int64_t, 8)
257 _MAV_MSG_RETURN_TYPE(float, 4)
258 _MAV_MSG_RETURN_TYPE(double, 8)
259 
260 #elif !MAVLINK_ALIGNED_FIELDS
261 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
262 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
263 { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
264 
265 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
266 _MAV_MSG_RETURN_TYPE(int16_t, 2)
267 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
268 _MAV_MSG_RETURN_TYPE(int32_t, 4)
269 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
270 _MAV_MSG_RETURN_TYPE(int64_t, 8)
271 _MAV_MSG_RETURN_TYPE(float, 4)
272 _MAV_MSG_RETURN_TYPE(double, 8)
273 #else // nicely aligned, no swap
274 #define _MAV_MSG_RETURN_TYPE(TYPE) \
275 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
276 { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
277 
278 _MAV_MSG_RETURN_TYPE(uint16_t)
279 _MAV_MSG_RETURN_TYPE(int16_t)
280 _MAV_MSG_RETURN_TYPE(uint32_t)
281 _MAV_MSG_RETURN_TYPE(int32_t)
282 _MAV_MSG_RETURN_TYPE(uint64_t)
283 _MAV_MSG_RETURN_TYPE(int64_t)
284 _MAV_MSG_RETURN_TYPE(float)
285 _MAV_MSG_RETURN_TYPE(double)
286 #endif // MAVLINK_NEED_BYTE_SWAP
287 
288 static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
289  uint8_t array_length, uint8_t wire_offset)
290 {
291  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
292  return array_length;
293 }
294 
295 static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
296  uint8_t array_length, uint8_t wire_offset)
297 {
298  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
299  return array_length;
300 }
301 
302 static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
303  uint8_t array_length, uint8_t wire_offset)
304 {
305  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
306  return array_length;
307 }
308 
309 #if MAVLINK_NEED_BYTE_SWAP
310 #define _MAV_RETURN_ARRAY(TYPE, V) \
311 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
312  uint8_t array_length, uint8_t wire_offset) \
313 { \
314  uint16_t i; \
315  for (i=0; i<array_length; i++) { \
316  value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
317  } \
318  return array_length*sizeof(value[0]); \
319 }
320 #else
321 #define _MAV_RETURN_ARRAY(TYPE, V) \
322 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
323  uint8_t array_length, uint8_t wire_offset) \
324 { \
325  memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
326  return array_length*sizeof(TYPE); \
327 }
328 #endif
329 
330 _MAV_RETURN_ARRAY(uint16_t, u16)
331 _MAV_RETURN_ARRAY(uint32_t, u32)
332 _MAV_RETURN_ARRAY(uint64_t, u64)
333 _MAV_RETURN_ARRAY(int16_t, i16)
334 _MAV_RETURN_ARRAY(int32_t, i32)
335 _MAV_RETURN_ARRAY(int64_t, i64)
336 _MAV_RETURN_ARRAY(float, f)
337 _MAV_RETURN_ARRAY(double, d)
338 
339 #endif // _MAVLINK_PROTOCOL_H_
mavlink_frame_char
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t *r_message, mavlink_status_t *r_mavlink_status)
Definition: mavlink_helpers.h:465
mavlink_reset_channel_status
MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
Reset the status of a channel.
Definition: mavlink_helpers.h:49
_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: protocol.h:302
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: mavlink_helpers.h:515
__mavlink_status
Definition: mavlink_types.h:213
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: mavlink_helpers.h:546
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: protocol.h:92
_MAV_MSG_RETURN_TYPE
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE)
Definition: protocol.h:247
mavlink_get_channel_status
MAVLINK_HELPER mavlink_status_t * mavlink_get_channel_status(uint8_t chan)
Definition: mavlink_helpers.h:17
MAVLINK_NUM_NON_PAYLOAD_BYTES
#define MAVLINK_NUM_NON_PAYLOAD_BYTES
Definition: mavlink_types.h:26
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: mavlink_helpers.h:105
_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: protocol.h:197
_MAV_RETURN_ARRAY
#define _MAV_RETURN_ARRAY(TYPE, V)
Definition: protocol.h:310
byte_swap_4
static void byte_swap_4(char *dst, const char *src)
Definition: protocol.h:103
mavlink_channel_t
mavlink_channel_t
Definition: mavlink_types.h:173
_MAV_PAYLOAD
#define _MAV_PAYLOAD(msg)
Definition: mavlink_types.h:166
byte_swap_2
static void byte_swap_2(char *dst, const char *src)
Definition: protocol.h:98
mavlink_update_checksum
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t *msg, uint8_t c)
Definition: mavlink_helpers.h:201
_MAV_PUT_ARRAY
#define _MAV_PUT_ARRAY(TYPE, V)
Definition: protocol.h:213
mavlink_frame_char_buffer
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)
Definition: mavlink_helpers.h:240
mav_array_memcpy
static void mav_array_memcpy(void *dest, const void *src, size_t n)
Definition: protocol.h:176
_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: protocol.h:288
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: mavlink_helpers.h:174
_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: protocol.h:295
mavlink_helpers.h
_mav_put_char_array
static void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
Definition: protocol.h:188
MAVLINK_HELPER
#define MAVLINK_HELPER
Definition: protocol.h:84
mavlink_start_checksum
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t *msg)
Definition: mavlink_helpers.h:196
mavlink_types.h
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: mavlink_helpers.h:71
_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: protocol.h:206
byte_swap_8
static void byte_swap_8(char *dst, const char *src)
Definition: protocol.h:110

rosflight
Author(s): Daniel Koch , James Jackson
autogenerated on Wed Jul 3 2019 20:00:13