Emaxx Navigation Group
Mavlink Messages for Emaxx Nav Board
Dependents: Madpulse_Speed_Control_temp Madpulse_Speed_Control_Students
Diff: protocol.h
- Revision:
- 0:bb2cacd02294
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/protocol.h Fri Jan 20 13:20:58 2017 +0000
@@ -0,0 +1,340 @@
+#ifndef _MAVLINK_PROTOCOL_H_
+#define _MAVLINK_PROTOCOL_H_
+
+#include "string.h"
+#include "mavlink_types.h"
+
+/*
+ If you want MAVLink on a system that is native big-endian,
+ you need to define NATIVE_BIG_ENDIAN
+*/
+#ifdef NATIVE_BIG_ENDIAN
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
+#else
+# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
+#endif
+
+#ifndef MAVLINK_STACK_BUFFER
+#define MAVLINK_STACK_BUFFER 0
+#endif
+
+#ifndef MAVLINK_AVOID_GCC_STACK_BUG
+# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
+#endif
+
+#ifndef MAVLINK_ASSERT
+#define MAVLINK_ASSERT(x)
+#endif
+
+#ifndef MAVLINK_START_UART_SEND
+#define MAVLINK_START_UART_SEND(chan, length)
+#endif
+
+#ifndef MAVLINK_END_UART_SEND
+#define MAVLINK_END_UART_SEND(chan, length)
+#endif
+
+/* option to provide alternative implementation of mavlink_helpers.h */
+#ifdef MAVLINK_SEPARATE_HELPERS
+
+ #define MAVLINK_HELPER
+
+ /* decls in sync with those in mavlink_helpers.h */
+ #ifndef MAVLINK_GET_CHANNEL_STATUS
+ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+ #endif
+ MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
+ #if MAVLINK_CRC_EXTRA
+ 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 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);
+ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
+ uint8_t min_length, uint8_t length, uint8_t crc_extra);
+ #endif
+ #else
+ 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);
+ MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+ uint8_t length);
+ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
+ #endif
+ #endif // MAVLINK_CRC_EXTRA
+ MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
+ 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 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 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_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
+ 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);
+ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
+ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
+ #endif
+
+#else
+
+ #define MAVLINK_HELPER static inline
+ #include "mavlink_helpers.h"
+
+#endif // MAVLINK_SEPARATE_HELPERS
+
+/**
+ * @brief Get the required buffer size for this message
+ */
+static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
+{
+ return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+static inline void byte_swap_2(char *dst, const char *src)
+{
+ dst[0] = src[1];
+ dst[1] = src[0];
+}
+static inline void byte_swap_4(char *dst, const char *src)
+{
+ dst[0] = src[3];
+ dst[1] = src[2];
+ dst[2] = src[1];
+ dst[3] = src[0];
+}
+static inline void byte_swap_8(char *dst, const char *src)
+{
+ dst[0] = src[7];
+ dst[1] = src[6];
+ dst[2] = src[5];
+ dst[3] = src[4];
+ dst[4] = src[3];
+ dst[5] = src[2];
+ dst[6] = src[1];
+ dst[7] = src[0];
+}
+#elif !MAVLINK_ALIGNED_FIELDS
+static inline void byte_copy_2(char *dst, const char *src)
+{
+ dst[0] = src[0];
+ dst[1] = src[1];
+}
+static inline void byte_copy_4(char *dst, const char *src)
+{
+ dst[0] = src[0];
+ dst[1] = src[1];
+ dst[2] = src[2];
+ dst[3] = src[3];
+}
+static inline void byte_copy_8(char *dst, const char *src)
+{
+ memcpy(dst, src, 8);
+}
+#endif
+
+#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
+#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
+#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
+#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
+#else
+#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
+#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
+#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
+#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
+#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
+#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
+#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
+#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
+#endif
+
+/*
+ like memcpy(), but if src is NULL, do a memset to zero
+*/
+static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
+{
+ if (src == NULL) {
+ memset(dest, 0, n);
+ } else {
+ memcpy(dest, src, n);
+ }
+}
+
+/*
+ * Place a char array into a buffer
+ */
+static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
+{
+ mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+/*
+ * Place a uint8_t array into a buffer
+ */
+static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
+{
+ mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+/*
+ * Place a int8_t array into a buffer
+ */
+static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
+{
+ mav_array_memcpy(&buf[wire_offset], b, array_length);
+
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_PUT_ARRAY(TYPE, V) \
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+ if (b == NULL) { \
+ memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
+ } else { \
+ uint16_t i; \
+ for (i=0; i<array_length; i++) { \
+ _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
+ } \
+ } \
+}
+#else
+#define _MAV_PUT_ARRAY(TYPE, V) \
+static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
+{ \
+ mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
+}
+#endif
+
+_MAV_PUT_ARRAY(uint16_t, u16)
+_MAV_PUT_ARRAY(uint32_t, u32)
+_MAV_PUT_ARRAY(uint64_t, u64)
+_MAV_PUT_ARRAY(int16_t, i16)
+_MAV_PUT_ARRAY(int32_t, i32)
+_MAV_PUT_ARRAY(int64_t, i64)
+_MAV_PUT_ARRAY(float, f)
+_MAV_PUT_ARRAY(double, d)
+
+#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
+#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t, 2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t, 4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t, 8)
+_MAV_MSG_RETURN_TYPE(float, 4)
+_MAV_MSG_RETURN_TYPE(double, 8)
+
+#elif !MAVLINK_ALIGNED_FIELDS
+#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
+
+_MAV_MSG_RETURN_TYPE(uint16_t, 2)
+_MAV_MSG_RETURN_TYPE(int16_t, 2)
+_MAV_MSG_RETURN_TYPE(uint32_t, 4)
+_MAV_MSG_RETURN_TYPE(int32_t, 4)
+_MAV_MSG_RETURN_TYPE(uint64_t, 8)
+_MAV_MSG_RETURN_TYPE(int64_t, 8)
+_MAV_MSG_RETURN_TYPE(float, 4)
+_MAV_MSG_RETURN_TYPE(double, 8)
+#else // nicely aligned, no swap
+#define _MAV_MSG_RETURN_TYPE(TYPE) \
+static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
+{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
+
+_MAV_MSG_RETURN_TYPE(uint16_t)
+_MAV_MSG_RETURN_TYPE(int16_t)
+_MAV_MSG_RETURN_TYPE(uint32_t)
+_MAV_MSG_RETURN_TYPE(int32_t)
+_MAV_MSG_RETURN_TYPE(uint64_t)
+_MAV_MSG_RETURN_TYPE(int64_t)
+_MAV_MSG_RETURN_TYPE(float)
+_MAV_MSG_RETURN_TYPE(double)
+#endif // MAVLINK_NEED_BYTE_SWAP
+
+static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
+ uint8_t array_length, uint8_t wire_offset)
+{
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+ return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
+ uint8_t array_length, uint8_t wire_offset)
+{
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+ return array_length;
+}
+
+static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
+ uint8_t array_length, uint8_t wire_offset)
+{
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
+ return array_length;
+}
+
+#if MAVLINK_NEED_BYTE_SWAP
+#define _MAV_RETURN_ARRAY(TYPE, V) \
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+ uint8_t array_length, uint8_t wire_offset) \
+{ \
+ uint16_t i; \
+ for (i=0; i<array_length; i++) { \
+ value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
+ } \
+ return array_length*sizeof(value[0]); \
+}
+#else
+#define _MAV_RETURN_ARRAY(TYPE, V) \
+static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
+ uint8_t array_length, uint8_t wire_offset) \
+{ \
+ memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
+ return array_length*sizeof(TYPE); \
+}
+#endif
+
+_MAV_RETURN_ARRAY(uint16_t, u16)
+_MAV_RETURN_ARRAY(uint32_t, u32)
+_MAV_RETURN_ARRAY(uint64_t, u64)
+_MAV_RETURN_ARRAY(int16_t, i16)
+_MAV_RETURN_ARRAY(int32_t, i32)
+_MAV_RETURN_ARRAY(int64_t, i64)
+_MAV_RETURN_ARRAY(float, f)
+_MAV_RETURN_ARRAY(double, d)
+
+#endif // _MAVLINK_PROTOCOL_H_
+