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Commit d4c5a5f2 authored by Lorenz Meier's avatar Lorenz Meier
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Updated to most recent MAVLink v1.0.8

parent 5a57860d
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files/mavlink_generator/C/include_v0.9/checksum.h deleted 100644 → 0
View file @ 5a57860d
#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
files/mavlink_generator/C/include_v0.9/mavlink_helpers.h deleted 100644 → 0
View file @ 5a57860d
#ifndef _MAVLINK_HELPERS_H_
#define _MAVLINK_HELPERS_H_
#include "string.h"
#include "checksum.h"
#include "mavlink_types.h"
#ifndef MAVLINK_HELPER
#define MAVLINK_HELPER
#endif
/*
internal function to give access to the channel status for each channel
*/
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[chan];
}
/*
internal function to give access to the channel buffer for each channel
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
#ifndef m_mavlink_message
#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
#endif
#else
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
#endif
return &m_mavlink_buffer[chan];
}
/**
* @brief 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.
*
* @param msg Message to finalize
* @param system_id Id of the sending (this) system, 1-127
* @param length Message length
*/
#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 length, uint8_t crc_extra)
#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)
#endif
{
// This code part is the same for all messages;
uint16_t checksum;
msg->magic = MAVLINK_STX;
msg->len = length;
msg->sysid = system_id;
msg->compid = component_id;
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
#endif
mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
/**
* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t length, uint8_t crc_extra)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
}
#else
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t length)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
}
#endif
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
/**
* @brief Finalize a MAVLink message with channel assignment and send
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
uint8_t length, uint8_t crc_extra)
#else
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
#endif
{
uint16_t checksum;
uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
uint8_t ck[2];
mavlink_status_t *status = mavlink_get_channel_status(chan);
buf[0] = MAVLINK_STX;
buf[1] = length;
buf[2] = status->current_tx_seq;
buf[3] = mavlink_system.sysid;
buf[4] = mavlink_system.compid;
buf[5] = msgid;
status->current_tx_seq++;
checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, packet, length);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
#endif
ck[0] = (uint8_t)(checksum & 0xFF);
ck[1] = (uint8_t)(checksum >> 8);
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
_mavlink_send_uart(chan, packet, length);
_mavlink_send_uart(chan, (const char *)ck, 2);
MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a message to send it over a serial byte stream
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
union __mavlink_bitfield {
uint8_t uint8;
int8_t int8;
uint16_t uint16;
int16_t int16;
uint32_t uint32;
int32_t int32;
};
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
{
crc_init(&msg->checksum);
}
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
{
crc_accumulate(c, &msg->checksum);
}
/**
* 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. Checksum and other failures will be silently
* ignored.
*
* @param 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
* @param c The char to barse
*
* @param returnMsg NULL if no message could be decoded, the message data else
* @return 0 if no message could be decoded, 1 else
*
* A typical use scenario of this function call is:
*
* @code
* #include <inttypes.h> // For fixed-width uint8_t type
*
* 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);
* }
* }
*
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
/*
default message crc function. You can override this per-system to
put this data in a different memory segment
*/
#if MAVLINK_CRC_EXTRA
#ifndef MAVLINK_MESSAGE_CRC
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
#endif
#endif
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
status->msg_received = 0;
switch (status->parse_state)
{
case MAVLINK_PARSE_STATE_UNINIT:
case MAVLINK_PARSE_STATE_IDLE:
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg);
}
break;
case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received
/* Support shorter buffers than the
default maximum packet size */
#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
|| c > MAVLINK_MAX_PAYLOAD_LEN
#endif
)
{
status->buffer_overrun++;
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
}
else
{
// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
rxmsg->len = c;
status->packet_idx = 0;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
}
break;
case MAVLINK_PARSE_STATE_GOT_LENGTH:
rxmsg->seq = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
break;
case MAVLINK_PARSE_STATE_GOT_SEQ:
rxmsg->sysid = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
break;
case MAVLINK_PARSE_STATE_GOT_SYSID:
rxmsg->compid = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
break;
case MAVLINK_PARSE_STATE_GOT_COMPID:
rxmsg->msgid = c;
mavlink_update_checksum(rxmsg, c);
if (rxmsg->len == 0)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
}
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
break;
case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
#if MAVLINK_CRC_EXTRA
mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
#endif
if (c != (rxmsg->checksum & 0xFF)) {
// Check first checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
break;
case MAVLINK_PARSE_STATE_GOT_CRC1:
if (c != (rxmsg->checksum >> 8)) {
// Check second checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
break;
}
bufferIndex++;
// If a message has been sucessfully decoded, check index
if (status->msg_received == 1)
{
//while(status->current_seq != rxmsg->seq)
//{
// status->packet_rx_drop_count++;
// status->current_seq++;
//}
status->current_rx_seq = rxmsg->seq;
// Initial condition: If no packet has been received so far, drop count is undefined
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
// Count this packet as received
status->packet_rx_success_count++;
}
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;
status->parse_error = 0;
return status->msg_received;
}
/**
* @brief Put a bitfield of length 1-32 bit into the buffer
*
* @param b the value to add, will be encoded in the bitfield
* @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
* @param packet_index the position in the packet (the index of the first byte to use)
* @param bit_index the position in the byte (the index of the first bit to use)
* @param buffer packet buffer to write into
* @return new position of the last used byte in the buffer
*/
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)
{
uint16_t bits_remain = bits;
// Transform number into network order
int32_t v;
uint8_t i_bit_index, i_byte_index, curr_bits_n;
#if MAVLINK_NEED_BYTE_SWAP
union {
int32_t i;
uint8_t b[4];
} bin, bout;
bin.i = b;
bout.b[0] = bin.b[3];
bout.b[1] = bin.b[2];
bout.b[2] = bin.b[1];
bout.b[3] = bin.b[0];
v = bout.i;
#else
v = b;
#endif
// buffer in
// 01100000 01000000 00000000 11110001
// buffer out
// 11110001 00000000 01000000 01100000
// Existing partly filled byte (four free slots)
// 0111xxxx
// Mask n free bits
// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
// Shift n bits into the right position
// out = in >> n;
// Mask and shift bytes
i_bit_index = bit_index;
i_byte_index = packet_index;
if (bit_index > 0)
{
// If bits were available at start, they were available
// in the byte before the current index
i_byte_index--;
}
// While bits have not been packed yet
while (bits_remain > 0)
{
// Bits still have to be packed
// there can be more than 8 bits, so
// we might have to pack them into more than one byte
// First pack everything we can into the current 'open' byte
//curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
//FIXME
if (bits_remain <= (uint8_t)(8 - i_bit_index))
{
// Enough space
curr_bits_n = (uint8_t)bits_remain;
}
else
{
curr_bits_n = (8 - i_bit_index);
}
// Pack these n bits into the current byte
// Mask out whatever was at that position with ones (xxx11111)
buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
// Put content to this position, by masking out the non-used part
buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
// Increment the bit index
i_bit_index += curr_bits_n;
// Now proceed to the next byte, if necessary
bits_remain -= curr_bits_n;
if (bits_remain > 0)
{
// Offer another 8 bits / one byte
i_byte_index++;
i_bit_index = 0;
}
}
*r_bit_index = i_bit_index;
// If a partly filled byte is present, mark this as consumed
if (i_bit_index != 7) i_byte_index++;
return i_byte_index - packet_index;
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
// To make MAVLink work on your MCU, define comm_send_ch() if you wish
// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
// whole packet at a time
/*
#include "mavlink_types.h"
void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
{
if (chan == MAVLINK_COMM_0)
{
uart0_transmit(ch);
}
if (chan == MAVLINK_COMM_1)
{
uart1_transmit(ch);
}
}
*/
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
{
#ifdef MAVLINK_SEND_UART_BYTES
/* this is the more efficient approach, if the platform
defines it */
MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
#else
/* fallback to one byte at a time */
uint16_t i;
for (i = 0; i < len; i++) {
comm_send_ch(chan, (uint8_t)buf[i]);
}
#endif
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
#endif /* _MAVLINK_HELPERS_H_ */
files/mavlink_generator/C/include_v0.9/mavlink_types.h deleted 100644 → 0
View file @ 5a57860d
#ifndef MAVLINK_TYPES_H_
#define MAVLINK_TYPES_H_
#include "inttypes.h"
enum MAV_CLASS
{
MAV_CLASS_GENERIC = 0, ///< Generic autopilot, full support for everything
MAV_CLASS_PIXHAWK = 1, ///< PIXHAWK autopilot, http://pixhawk.ethz.ch
MAV_CLASS_SLUGS = 2, ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu
MAV_CLASS_ARDUPILOTMEGA = 3, ///< ArduPilotMega / ArduCopter, http://diydrones.com
MAV_CLASS_OPENPILOT = 4, ///< OpenPilot, http://openpilot.org
MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5, ///< Generic autopilot only supporting simple waypoints
MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
MAV_CLASS_GENERIC_MISSION_FULL = 7, ///< Generic autopilot supporting the full mission command set
MAV_CLASS_NONE = 8, ///< No valid autopilot
MAV_CLASS_NB ///< Number of autopilot classes
};
enum MAV_ACTION
{
MAV_ACTION_HOLD = 0,
MAV_ACTION_MOTORS_START = 1,
MAV_ACTION_LAUNCH = 2,
MAV_ACTION_RETURN = 3,
MAV_ACTION_EMCY_LAND = 4,
MAV_ACTION_EMCY_KILL = 5,
MAV_ACTION_CONFIRM_KILL = 6,
MAV_ACTION_CONTINUE = 7,
MAV_ACTION_MOTORS_STOP = 8,
MAV_ACTION_HALT = 9,
MAV_ACTION_SHUTDOWN = 10,
MAV_ACTION_REBOOT = 11,
MAV_ACTION_SET_MANUAL = 12,
MAV_ACTION_SET_AUTO = 13,
MAV_ACTION_STORAGE_READ = 14,
MAV_ACTION_STORAGE_WRITE = 15,
MAV_ACTION_CALIBRATE_RC = 16,
MAV_ACTION_CALIBRATE_GYRO = 17,
MAV_ACTION_CALIBRATE_MAG = 18,
MAV_ACTION_CALIBRATE_ACC = 19,
MAV_ACTION_CALIBRATE_PRESSURE = 20,
MAV_ACTION_REC_START = 21,
MAV_ACTION_REC_PAUSE = 22,
MAV_ACTION_REC_STOP = 23,
MAV_ACTION_TAKEOFF = 24,
MAV_ACTION_NAVIGATE = 25,
MAV_ACTION_LAND = 26,
MAV_ACTION_LOITER = 27,
MAV_ACTION_SET_ORIGIN = 28,
MAV_ACTION_RELAY_ON = 29,
MAV_ACTION_RELAY_OFF = 30,
MAV_ACTION_GET_IMAGE = 31,
MAV_ACTION_VIDEO_START = 32,
MAV_ACTION_VIDEO_STOP = 33,
MAV_ACTION_RESET_MAP = 34,
MAV_ACTION_RESET_PLAN = 35,
MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
MAV_ACTION_ASCEND_AT_RATE = 37,
MAV_ACTION_CHANGE_MODE = 38,
MAV_ACTION_LOITER_MAX_TURNS = 39,
MAV_ACTION_LOITER_MAX_TIME = 40,
MAV_ACTION_START_HILSIM = 41,
MAV_ACTION_STOP_HILSIM = 42,
MAV_ACTION_NB ///< Number of MAV actions
};
enum MAV_MODE
{
MAV_MODE_UNINIT = 0, ///< System is in undefined state
MAV_MODE_LOCKED = 1, ///< Motors are blocked, system is safe
MAV_MODE_MANUAL = 2, ///< System is allowed to be active, under manual (RC) control
MAV_MODE_GUIDED = 3, ///< System is allowed to be active, under autonomous control, manual setpoint
MAV_MODE_AUTO = 4, ///< System is allowed to be active, under autonomous control and navigation
MAV_MODE_TEST1 = 5, ///< Generic test mode, for custom use
MAV_MODE_TEST2 = 6, ///< Generic test mode, for custom use
MAV_MODE_TEST3 = 7, ///< Generic test mode, for custom use
MAV_MODE_READY = 8, ///< System is ready, motors are unblocked, but controllers are inactive
MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back
};
enum MAV_STATE
{
MAV_STATE_UNINIT = 0,
MAV_STATE_BOOT,
MAV_STATE_CALIBRATING,
MAV_STATE_STANDBY,
MAV_STATE_ACTIVE,
MAV_STATE_CRITICAL,
MAV_STATE_EMERGENCY,
MAV_STATE_HILSIM,
MAV_STATE_POWEROFF
};
enum MAV_NAV
{
MAV_NAV_GROUNDED = 0,
MAV_NAV_LIFTOFF,
MAV_NAV_HOLD,
MAV_NAV_WAYPOINT,
MAV_NAV_VECTOR,
MAV_NAV_RETURNING,
MAV_NAV_LANDING,
MAV_NAV_LOST,
MAV_NAV_LOITER,
MAV_NAV_FREE_DRIFT
};
enum MAV_TYPE
{
MAV_GENERIC = 0,
MAV_FIXED_WING = 1,
MAV_QUADROTOR = 2,
MAV_COAXIAL = 3,
MAV_HELICOPTER = 4,
MAV_GROUND = 5,
OCU = 6,
MAV_AIRSHIP = 7,
MAV_FREE_BALLOON = 8,
MAV_ROCKET = 9,
UGV_GROUND_ROVER = 10,
UGV_SURFACE_SHIP = 11
};
enum MAV_AUTOPILOT_TYPE
{
MAV_AUTOPILOT_GENERIC = 0,
MAV_AUTOPILOT_PIXHAWK = 1,
MAV_AUTOPILOT_SLUGS = 2,
MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
MAV_AUTOPILOT_NONE = 4
};
enum MAV_COMPONENT
{
MAV_COMP_ID_GPS,
MAV_COMP_ID_WAYPOINTPLANNER,
MAV_COMP_ID_BLOBTRACKER,
MAV_COMP_ID_PATHPLANNER,
MAV_COMP_ID_AIRSLAM,
MAV_COMP_ID_MAPPER,
MAV_COMP_ID_CAMERA,
MAV_COMP_ID_RADIO = 68,
MAV_COMP_ID_IMU = 200,
MAV_COMP_ID_IMU_2 = 201,
MAV_COMP_ID_IMU_3 = 202,
MAV_COMP_ID_UDP_BRIDGE = 240,
MAV_COMP_ID_UART_BRIDGE = 241,
MAV_COMP_ID_SYSTEM_CONTROL = 250
};
enum MAV_FRAME
{
MAV_FRAME_GLOBAL = 0,
MAV_FRAME_LOCAL = 1,
MAV_FRAME_MISSION = 2,
MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
MAV_FRAME_LOCAL_ENU = 4
};
enum MAVLINK_DATA_STREAM_TYPE
{
MAVLINK_DATA_STREAM_IMG_JPEG,
MAVLINK_DATA_STREAM_IMG_BMP,
MAVLINK_DATA_STREAM_IMG_RAW8U,
MAVLINK_DATA_STREAM_IMG_RAW32U,
MAVLINK_DATA_STREAM_IMG_PGM,
MAVLINK_DATA_STREAM_IMG_PNG
};
#ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
#endif
#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t type; ///< Unused, can be used by user to store the system's type
uint8_t state; ///< Unused, can be used by user to store the system's state
uint8_t mode; ///< Unused, can be used by user to store the system's mode
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
} mavlink_system_t;
typedef struct __mavlink_message {
uint16_t checksum; /// sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2,
MAVLINK_TYPE_UINT16_T = 3,
MAVLINK_TYPE_INT16_T = 4,
MAVLINK_TYPE_UINT32_T = 5,
MAVLINK_TYPE_INT32_T = 6,
MAVLINK_TYPE_UINT64_T = 7,
MAVLINK_TYPE_INT64_T = 8,
MAVLINK_TYPE_FLOAT = 9,
MAVLINK_TYPE_DOUBLE = 10
} mavlink_message_type_t;
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
MAVLINK_COMM_1,
MAVLINK_COMM_2,
MAVLINK_COMM_3
} mavlink_channel_t;
/*
* applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
* of buffers they will use. If more are used, then the result will be
* a stack overrun
*/
#ifndef MAVLINK_COMM_NUM_BUFFERS
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
# define MAVLINK_COMM_NUM_BUFFERS 16
#else
# define MAVLINK_COMM_NUM_BUFFERS 4
#endif
#endif
typedef enum {
MAVLINK_PARSE_STATE_UNINIT=0,
MAVLINK_PARSE_STATE_IDLE,
MAVLINK_PARSE_STATE_GOT_STX,
MAVLINK_PARSE_STATE_GOT_SEQ,
MAVLINK_PARSE_STATE_GOT_LENGTH,
MAVLINK_PARSE_STATE_GOT_SYSID,
MAVLINK_PARSE_STATE_GOT_COMPID,
MAVLINK_PARSE_STATE_GOT_MSGID,
MAVLINK_PARSE_STATE_GOT_PAYLOAD,
MAVLINK_PARSE_STATE_GOT_CRC1
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
} mavlink_status_t;
#define MAVLINK_BIG_ENDIAN 0
#define MAVLINK_LITTLE_ENDIAN 1
#endif /* MAVLINK_TYPES_H_ */
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#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
#ifdef MAVLINK_SEPARATE_HELPERS
#define MAVLINK_HELPER
#else
#define MAVLINK_HELPER static inline
#include "mavlink_helpers.h"
#endif // MAVLINK_SEPARATE_HELPERS
/* always include the prototypes to ensure we don't get out of sync */
MAVLINK_HELPER mavlink_status_t* mavlink_get_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 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 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 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);
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
#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_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);
#endif
/**
* @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 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_
files/mavlink_generator/C/include_v0.9/test/mavlink.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "test.h"
#endif // MAVLINK_H
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/** @file
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_H
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/** @file
* @brief MAVLink comm protocol testsuite generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_TESTSUITE_H
#define TEST_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_test_types_t packet_in = {
'A',
"BCDEFGHIJ",
230,
17859,
963498192,
93372036854776941ULL,
211,
18639,
963498972,
93372036854777886LL,
304.0,
438.0,
{ 228, 229, 230 },
{ 20147, 20148, 20149 },
{ 963500688, 963500689, 963500690 },
{ 93372036854780469, 93372036854780470, 93372036854780471 },
{ 171, 172, 173 },
{ 22487, 22488, 22489 },
{ 963503028, 963503029, 963503030 },
{ 93372036854783304, 93372036854783305, 93372036854783306 },
{ 1018.0, 1019.0, 1020.0 },
{ 1208.0, 1209.0, 1210.0 },
};
mavlink_test_types_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.c = packet_in.c;
packet1.u8 = packet_in.u8;
packet1.u16 = packet_in.u16;
packet1.u32 = packet_in.u32;
packet1.u64 = packet_in.u64;
packet1.s8 = packet_in.s8;
packet1.s16 = packet_in.s16;
packet1.s32 = packet_in.s32;
packet1.s64 = packet_in.s64;
packet1.f = packet_in.f;
packet1.d = packet_in.d;
mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test_types(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_TESTSUITE_H
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:54 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
#endif // MAVLINK_VERSION_H
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#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
/**
* @brief Accumulate the X.25 CRC by adding one char at a time.
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new char to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
{
/*Accumulate one byte of data into the CRC*/
uint8_t tmp;
tmp = data ^ (uint8_t)(*crcAccum &0xff);
tmp ^= (tmp<<4);
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
}
/**
* @brief Initiliaze the buffer for the X.25 CRC
*
* @param crcAccum the 16 bit X.25 CRC
*/
static inline void crc_init(uint16_t* crcAccum)
{
*crcAccum = X25_INIT_CRC;
}
/**
* @brief Calculates the X.25 checksum on a byte buffer
*
* @param pBuffer buffer containing the byte array to hash
* @param length length of the byte array
* @return the checksum over the buffer bytes
**/
static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
{
uint16_t crcTmp;
crc_init(&crcTmp);
while (length--) {
crc_accumulate(*pBuffer++, &crcTmp);
}
return crcTmp;
}
/**
* @brief Accumulate the X.25 CRC by adding an array of bytes
*
* The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16_t).
*
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
crc_accumulate(*p++, crcAccum);
}
}
#endif /* _CHECKSUM_H_ */
#ifdef __cplusplus
}
#endif
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#ifndef _MAVLINK_HELPERS_H_
#define _MAVLINK_HELPERS_H_
#include "string.h"
#include "checksum.h"
#include "mavlink_types.h"
#ifndef MAVLINK_HELPER
#define MAVLINK_HELPER
#endif
/*
internal function to give access to the channel status for each channel
*/
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[chan];
}
/*
internal function to give access to the channel buffer for each channel
*/
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
#ifndef m_mavlink_message
#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
#endif
#else
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
#endif
return &m_mavlink_buffer[chan];
}
/**
* @brief 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.
*
* @param msg Message to finalize
* @param system_id Id of the sending (this) system, 1-127
* @param length Message length
*/
#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 length, uint8_t crc_extra)
#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)
#endif
{
// This code part is the same for all messages;
uint16_t checksum;
msg->magic = MAVLINK_STX;
msg->len = length;
msg->sysid = system_id;
msg->compid = component_id;
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
#endif
mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
/**
* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t length, uint8_t crc_extra)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
}
#else
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t length)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
}
#endif
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
/**
* @brief Finalize a MAVLink message with channel assignment and send
*/
#if MAVLINK_CRC_EXTRA
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
uint8_t length, uint8_t crc_extra)
#else
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
#endif
{
uint16_t checksum;
uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
uint8_t ck[2];
mavlink_status_t *status = mavlink_get_channel_status(chan);
buf[0] = MAVLINK_STX;
buf[1] = length;
buf[2] = status->current_tx_seq;
buf[3] = mavlink_system.sysid;
buf[4] = mavlink_system.compid;
buf[5] = msgid;
status->current_tx_seq++;
checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, packet, length);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
#endif
ck[0] = (uint8_t)(checksum & 0xFF);
ck[1] = (uint8_t)(checksum >> 8);
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
_mavlink_send_uart(chan, packet, length);
_mavlink_send_uart(chan, (const char *)ck, 2);
MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
/**
* @brief Pack a message to send it over a serial byte stream
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
union __mavlink_bitfield {
uint8_t uint8;
int8_t int8;
uint16_t uint16;
int16_t int16;
uint32_t uint32;
int32_t int32;
};
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
{
crc_init(&msg->checksum);
}
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
{
crc_accumulate(c, &msg->checksum);
}
/**
* 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. Checksum and other failures will be silently
* ignored.
*
* @param 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
* @param c The char to barse
*
* @param returnMsg NULL if no message could be decoded, the message data else
* @return 0 if no message could be decoded, 1 else
*
* A typical use scenario of this function call is:
*
* @code
* #include <inttypes.h> // For fixed-width uint8_t type
*
* 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);
* }
* }
*
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
/*
default message crc function. You can override this per-system to
put this data in a different memory segment
*/
#if MAVLINK_CRC_EXTRA
#ifndef MAVLINK_MESSAGE_CRC
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
#endif
#endif
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
int bufferIndex = 0;
status->msg_received = 0;
switch (status->parse_state)
{
case MAVLINK_PARSE_STATE_UNINIT:
case MAVLINK_PARSE_STATE_IDLE:
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg);
}
break;
case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received
/* Support shorter buffers than the
default maximum packet size */
#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
|| c > MAVLINK_MAX_PAYLOAD_LEN
#endif
)
{
status->buffer_overrun++;
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
}
else
{
// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
rxmsg->len = c;
status->packet_idx = 0;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
}
break;
case MAVLINK_PARSE_STATE_GOT_LENGTH:
rxmsg->seq = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
break;
case MAVLINK_PARSE_STATE_GOT_SEQ:
rxmsg->sysid = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
break;
case MAVLINK_PARSE_STATE_GOT_SYSID:
rxmsg->compid = c;
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
break;
case MAVLINK_PARSE_STATE_GOT_COMPID:
rxmsg->msgid = c;
mavlink_update_checksum(rxmsg, c);
if (rxmsg->len == 0)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
}
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
}
break;
case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
#if MAVLINK_CRC_EXTRA
mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
#endif
if (c != (rxmsg->checksum & 0xFF)) {
// Check first checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
break;
case MAVLINK_PARSE_STATE_GOT_CRC1:
if (c != (rxmsg->checksum >> 8)) {
// Check second checksum byte
status->parse_error++;
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
if (c == MAVLINK_STX)
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
mavlink_start_checksum(rxmsg);
}
}
else
{
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
break;
}
bufferIndex++;
// If a message has been sucessfully decoded, check index
if (status->msg_received == 1)
{
//while(status->current_seq != rxmsg->seq)
//{
// status->packet_rx_drop_count++;
// status->current_seq++;
//}
status->current_rx_seq = rxmsg->seq;
// Initial condition: If no packet has been received so far, drop count is undefined
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
// Count this packet as received
status->packet_rx_success_count++;
}
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;
status->parse_error = 0;
return status->msg_received;
}
/**
* @brief Put a bitfield of length 1-32 bit into the buffer
*
* @param b the value to add, will be encoded in the bitfield
* @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
* @param packet_index the position in the packet (the index of the first byte to use)
* @param bit_index the position in the byte (the index of the first bit to use)
* @param buffer packet buffer to write into
* @return new position of the last used byte in the buffer
*/
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)
{
uint16_t bits_remain = bits;
// Transform number into network order
int32_t v;
uint8_t i_bit_index, i_byte_index, curr_bits_n;
#if MAVLINK_NEED_BYTE_SWAP
union {
int32_t i;
uint8_t b[4];
} bin, bout;
bin.i = b;
bout.b[0] = bin.b[3];
bout.b[1] = bin.b[2];
bout.b[2] = bin.b[1];
bout.b[3] = bin.b[0];
v = bout.i;
#else
v = b;
#endif
// buffer in
// 01100000 01000000 00000000 11110001
// buffer out
// 11110001 00000000 01000000 01100000
// Existing partly filled byte (four free slots)
// 0111xxxx
// Mask n free bits
// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
// Shift n bits into the right position
// out = in >> n;
// Mask and shift bytes
i_bit_index = bit_index;
i_byte_index = packet_index;
if (bit_index > 0)
{
// If bits were available at start, they were available
// in the byte before the current index
i_byte_index--;
}
// While bits have not been packed yet
while (bits_remain > 0)
{
// Bits still have to be packed
// there can be more than 8 bits, so
// we might have to pack them into more than one byte
// First pack everything we can into the current 'open' byte
//curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
//FIXME
if (bits_remain <= (uint8_t)(8 - i_bit_index))
{
// Enough space
curr_bits_n = (uint8_t)bits_remain;
}
else
{
curr_bits_n = (8 - i_bit_index);
}
// Pack these n bits into the current byte
// Mask out whatever was at that position with ones (xxx11111)
buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
// Put content to this position, by masking out the non-used part
buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
// Increment the bit index
i_bit_index += curr_bits_n;
// Now proceed to the next byte, if necessary
bits_remain -= curr_bits_n;
if (bits_remain > 0)
{
// Offer another 8 bits / one byte
i_byte_index++;
i_bit_index = 0;
}
}
*r_bit_index = i_bit_index;
// If a partly filled byte is present, mark this as consumed
if (i_bit_index != 7) i_byte_index++;
return i_byte_index - packet_index;
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
// To make MAVLink work on your MCU, define comm_send_ch() if you wish
// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
// whole packet at a time
/*
#include "mavlink_types.h"
void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
{
if (chan == MAVLINK_COMM_0)
{
uart0_transmit(ch);
}
if (chan == MAVLINK_COMM_1)
{
uart1_transmit(ch);
}
}
*/
MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
{
#ifdef MAVLINK_SEND_UART_BYTES
/* this is the more efficient approach, if the platform
defines it */
MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
#else
/* fallback to one byte at a time */
uint16_t i;
for (i = 0; i < len; i++) {
comm_send_ch(chan, (uint8_t)buf[i]);
}
#endif
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
#endif /* _MAVLINK_HELPERS_H_ */
files/mavlink_generator/C/include_v1.0/mavlink_protobuf_manager.hpp deleted 100644 → 0
View file @ 5a57860d
#ifndef MAVLINKPROTOBUFMANAGER_HPP
#define MAVLINKPROTOBUFMANAGER_HPP
#include <deque>
#include <google/protobuf/message.h>
#include <iostream>
#include <tr1/memory>
#include <checksum.h>
#include <common/mavlink.h>
#include <mavlink_types.h>
#include <pixhawk/pixhawk.pb.h>
namespace mavlink
{
class ProtobufManager
{
public:
ProtobufManager()
: mRegisteredTypeCount(0)
, mStreamID(0)
, mVerbose(false)
, kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
, kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
{
// register GLOverlay
{
std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
registerType(msg);
}
// register ObstacleList
{
std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
registerType(msg);
}
// register ObstacleMap
{
std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
registerType(msg);
}
// register Path
{
std::tr1::shared_ptr<px::Path> msg(new px::Path);
registerType(msg);
}
// register PointCloudXYZI
{
std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
registerType(msg);
}
// register PointCloudXYZRGB
{
std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
registerType(msg);
}
// register RGBDImage
{
std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
registerType(msg);
}
srand(time(NULL));
mStreamID = rand() + 1;
}
bool fragmentMessage(uint8_t system_id, uint8_t component_id,
uint8_t target_system, uint8_t target_component,
const google::protobuf::Message& protobuf_msg,
std::vector<mavlink_extended_message_t>& fragments) const
{
TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
if (it == mTypeMap.end())
{
std::cout << "# WARNING: Protobuf message with type "
<< protobuf_msg.GetTypeName() << " is not registered."
<< std::endl;
return false;
}
uint8_t typecode = it->second;
std::string data = protobuf_msg.SerializeAsString();
int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
unsigned int offset = 0;
for (int i = 0; i < fragmentCount; ++i)
{
mavlink_extended_message_t fragment;
// write extended header data
uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
unsigned int length = 0;
uint8_t flags = 0;
if (i < fragmentCount - 1)
{
length = kExtendedPayloadMaxSize;
flags |= 0x1;
}
else
{
length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
}
memcpy(payload, &target_system, 1);
memcpy(payload + 1, &target_component, 1);
memcpy(payload + 2, &typecode, 1);
memcpy(payload + 3, &length, 4);
memcpy(payload + 7, &mStreamID, 2);
memcpy(payload + 9, &offset, 4);
memcpy(payload + 13, &flags, 1);
fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
// write extended payload data
fragment.extended_payload_len = length;
memcpy(fragment.extended_payload, &data[offset], length);
fragments.push_back(fragment);
offset += length;
}
if (mVerbose)
{
std::cerr << "# INFO: Split extended message with size "
<< protobuf_msg.ByteSize() << " into "
<< fragmentCount << " fragments." << std::endl;
}
return true;
}
bool cacheFragment(mavlink_extended_message_t& msg)
{
if (!validFragment(msg))
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
return false;
}
// read extended header
uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
uint8_t typecode = 0;
unsigned int length = 0;
unsigned short streamID = 0;
unsigned int offset = 0;
uint8_t flags = 0;
memcpy(&typecode, payload + 2, 1);
memcpy(&length, payload + 3, 4);
memcpy(&streamID, payload + 7, 2);
memcpy(&offset, payload + 9, 4);
memcpy(&flags, payload + 13, 1);
if (typecode >= mTypeMap.size())
{
std::cout << "# WARNING: Protobuf message with type code "
<< static_cast<int>(typecode) << " is not registered." << std::endl;
return false;
}
bool reassemble = false;
FragmentQueue::iterator it = mFragmentQueue.find(streamID);
if (it == mFragmentQueue.end())
{
if (offset == 0)
{
mFragmentQueue[streamID].push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
if (mVerbose)
{
std::cerr << "# INFO: Added fragment to new queue."
<< std::endl;
}
}
else
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
}
}
else
{
std::deque<mavlink_extended_message_t>& queue = it->second;
if (queue.empty())
{
if (offset == 0)
{
queue.push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
}
else
{
if (mVerbose)
{
std::cerr << "# WARNING: Message is not a valid fragment. "
<< "Dropping message..." << std::endl;
}
}
}
else
{
if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
{
if (mVerbose)
{
std::cerr << "# WARNING: Previous fragment(s) have been lost. "
<< "Dropping message and clearing queue..." << std::endl;
}
queue.clear();
}
else
{
queue.push_back(msg);
if ((flags & 0x1) != 0x1)
{
reassemble = true;
}
}
}
}
if (reassemble)
{
std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
std::string data;
for (size_t i = 0; i < queue.size(); ++i)
{
mavlink_extended_message_t& mavlink_msg = queue.at(i);
data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
static_cast<size_t>(mavlink_msg.extended_payload_len));
}
mMessages.at(typecode)->ParseFromString(data);
mMessageAvailable.at(typecode) = true;
queue.clear();
if (mVerbose)
{
std::cerr << "# INFO: Reassembled fragments for message with typename "
<< mMessages.at(typecode)->GetTypeName() << " and size "
<< mMessages.at(typecode)->ByteSize()
<< "." << std::endl;
}
}
return true;
}
bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
{
for (size_t i = 0; i < mMessageAvailable.size(); ++i)
{
if (mMessageAvailable.at(i))
{
msg = mMessages.at(i);
mMessageAvailable.at(i) = false;
return true;
}
}
return false;
}
private:
void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
{
mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
++mRegisteredTypeCount;
mMessages.push_back(msg);
mMessageAvailable.push_back(false);
}
bool validFragment(const mavlink_extended_message_t& msg) const
{
if (msg.base_msg.magic != MAVLINK_STX ||
msg.base_msg.len != kExtendedHeaderSize ||
msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
{
return false;
}
uint16_t checksum;
checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
#if MAVLINK_CRC_EXTRA
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
#endif
if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
{
return false;
}
return true;
}
unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
{
const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
return *(reinterpret_cast<const unsigned int*>(payload + 3));
}
unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
{
const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
return *(reinterpret_cast<const unsigned int*>(payload + 9));
}
int mRegisteredTypeCount;
unsigned short mStreamID;
bool mVerbose;
typedef std::map<std::string, uint8_t> TypeMap;
TypeMap mTypeMap;
std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
std::vector<bool> mMessageAvailable;
typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
FragmentQueue mFragmentQueue;
const int kExtendedHeaderSize;
/**
* Extended header structure
* =========================
* byte 0 - target_system
* byte 1 - target_component
* byte 2 - extended message id (type code)
* bytes 3-6 - extended payload size in bytes
* byte 7-8 - stream ID
* byte 9-12 - fragment offset
* byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
*/
const int kExtendedPayloadMaxSize;
};
}
#endif
files/mavlink_generator/C/include_v1.0/mavlink_types.h deleted 100644 → 0
View file @ 5a57860d
#ifndef MAVLINK_TYPES_H_
#define MAVLINK_TYPES_H_
#include <inttypes.h>
#ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
#endif
#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
#define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else
/* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t type; ///< Unused, can be used by user to store the system's type
uint8_t state; ///< Unused, can be used by user to store the system's state
uint8_t mode; ///< Unused, can be used by user to store the system's mode
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
} mavlink_system_t;
typedef struct __mavlink_message {
uint16_t checksum; /// sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2,
MAVLINK_TYPE_UINT16_T = 3,
MAVLINK_TYPE_INT16_T = 4,
MAVLINK_TYPE_UINT32_T = 5,
MAVLINK_TYPE_INT32_T = 6,
MAVLINK_TYPE_UINT64_T = 7,
MAVLINK_TYPE_INT64_T = 8,
MAVLINK_TYPE_FLOAT = 9,
MAVLINK_TYPE_DOUBLE = 10
} mavlink_message_type_t;
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
MAVLINK_COMM_1,
MAVLINK_COMM_2,
MAVLINK_COMM_3
} mavlink_channel_t;
/*
* applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
* of buffers they will use. If more are used, then the result will be
* a stack overrun
*/
#ifndef MAVLINK_COMM_NUM_BUFFERS
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
# define MAVLINK_COMM_NUM_BUFFERS 16
#else
# define MAVLINK_COMM_NUM_BUFFERS 4
#endif
#endif
typedef enum {
MAVLINK_PARSE_STATE_UNINIT=0,
MAVLINK_PARSE_STATE_IDLE,
MAVLINK_PARSE_STATE_GOT_STX,
MAVLINK_PARSE_STATE_GOT_SEQ,
MAVLINK_PARSE_STATE_GOT_LENGTH,
MAVLINK_PARSE_STATE_GOT_SYSID,
MAVLINK_PARSE_STATE_GOT_COMPID,
MAVLINK_PARSE_STATE_GOT_MSGID,
MAVLINK_PARSE_STATE_GOT_PAYLOAD,
MAVLINK_PARSE_STATE_GOT_CRC1
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
} mavlink_status_t;
#define MAVLINK_BIG_ENDIAN 0
#define MAVLINK_LITTLE_ENDIAN 1
#endif /* MAVLINK_TYPES_H_ */
files/mavlink_generator/C/include_v1.0/protocol.h deleted 100644 → 0
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#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
#ifdef MAVLINK_SEPARATE_HELPERS
#define MAVLINK_HELPER
#else
#define MAVLINK_HELPER static inline
#include "mavlink_helpers.h"
#endif // MAVLINK_SEPARATE_HELPERS
/* always include the prototypes to ensure we don't get out of sync */
MAVLINK_HELPER mavlink_status_t* mavlink_get_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 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 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 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);
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
#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_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);
#endif
/**
* @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 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_
files/mavlink_generator/C/include_v1.0/test/mavlink.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "test.h"
#endif // MAVLINK_H
files/mavlink_generator/C/include_v1.0/test/test.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_H
#define TEST_H
#ifdef __cplusplus
extern "C" {
#endif
// MESSAGE LENGTHS AND CRCS
#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#endif
#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
#endif
#include "../protocol.h"
#define MAVLINK_ENABLED_TEST
// MAVLINK VERSION
#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION 3
#endif
// ENUM DEFINITIONS
// MESSAGE DEFINITIONS
#include "./mavlink_msg_test_types.h"
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_H
files/mavlink_generator/C/include_v1.0/test/testsuite.h deleted 100644 → 0
View file @ 5a57860d
/** @file
* @brief MAVLink comm protocol testsuite generated from test.xml
* @see http://qgroundcontrol.org/mavlink/
*/
#ifndef TEST_TESTSUITE_H
#define TEST_TESTSUITE_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test(system_id, component_id, last_msg);
}
#endif
static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_test_types_t packet_in = {
93372036854775807ULL,
93372036854776311LL,
235.0,
{ 93372036854777319, 93372036854777320, 93372036854777321 },
{ 93372036854778831, 93372036854778832, 93372036854778833 },
{ 627.0, 628.0, 629.0 },
963502456,
963502664,
745.0,
{ 963503080, 963503081, 963503082 },
{ 963503704, 963503705, 963503706 },
{ 941.0, 942.0, 943.0 },
24723,
24827,
{ 24931, 24932, 24933 },
{ 25243, 25244, 25245 },
'E',
"FGHIJKLMN",
198,
9,
{ 76, 77, 78 },
{ 21, 22, 23 },
};
mavlink_test_types_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.u64 = packet_in.u64;
packet1.s64 = packet_in.s64;
packet1.d = packet_in.d;
packet1.u32 = packet_in.u32;
packet1.s32 = packet_in.s32;
packet1.f = packet_in.f;
packet1.u16 = packet_in.u16;
packet1.s16 = packet_in.s16;
packet1.c = packet_in.c;
packet1.u8 = packet_in.u8;
packet1.s8 = packet_in.s8;
mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
mavlink_msg_test_types_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_test_types(system_id, component_id, last_msg);
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // TEST_TESTSUITE_H
files/mavlink_generator/C/include_v1.0/test/version.h deleted 100644 → 0
View file @ 5a57860d
/** @file
* @brief MAVLink comm protocol built from test.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Mar 1 15:11:58 2012"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
#endif // MAVLINK_VERSION_H
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