Updated MAVLink code generator

src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QObject>
 #include <QDomDocument>
 #include <QString>
+
 #include <inttypes.h>
 
 /**

src/apps/mavlinkgen/mavlinkgen.pri

@@ -29,6 +29,7 @@ FORMS += ui/XMLCommProtocolWidget.ui
 HEADERS += \
     ui/XMLCommProtocolWidget.h \
     generator/MAVLinkXMLParser.h \
+    generator/MAVLinkXMLParserV10.h \
     ui/DomItem.h \
     ui/DomModel.h \
     ui/QGCMAVLinkTextEdit.h
@@ -37,6 +38,7 @@ SOURCES += \
     ui/DomItem.cc \
     ui/DomModel.cc \
     generator/MAVLinkXMLParser.cc \
+    generator/MAVLinkXMLParserV10.cc \
     ui/QGCMAVLinkTextEdit.cc
 
 RESOURCES += mavlinkgen.qrc

src/apps/mavlinkgen/mavlinkgen.pro

@@ -13,5 +13,10 @@ include(mavlinkgen.pri)
 
 # Standalone files
 HEADERS += MAVLinkGen.h
+win32-msvc2008|win32-msvc2010 {
+HEADERS += msinttypes/inttypes.h \
+	msinttypes/stdint.h
+INCLUDEPATH += msinttypes
+}
 SOURCES += main.cc \
-    MAVLinkGen.cc
\ No newline at end of file
+    MAVLinkGen.cc

src/apps/mavlinkgen/msinttypes/inttypes.h

+// ISO C9x  compliant inttypes.h for Microsoft Visual Studio
+// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 
+// 
+//  Copyright (c) 2006 Alexander Chemeris
+// 
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+// 
+//   1. Redistributions of source code must retain the above copyright notice,
+//      this list of conditions and the following disclaimer.
+// 
+//   2. Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+// 
+//   3. The name of the author may be used to endorse or promote products
+//      derived from this software without specific prior written permission.
+// 
+// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+// 
+///////////////////////////////////////////////////////////////////////////////
+
+#ifndef _MSC_VER // [
+#error "Use this header only with Microsoft Visual C++ compilers!"
+#endif // _MSC_VER ]
+
+#ifndef _MSC_INTTYPES_H_ // [
+#define _MSC_INTTYPES_H_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif
+
+#include "stdint.h"
+
+// 7.8 Format conversion of integer types
+
+typedef struct {
+   intmax_t quot;
+   intmax_t rem;
+} imaxdiv_t;
+
+// 7.8.1 Macros for format specifiers
+
+#if !defined(__cplusplus) || defined(__STDC_FORMAT_MACROS) // [   See footnote 185 at page 198
+
+// The fprintf macros for signed integers are:
+#define PRId8       "d"
+#define PRIi8       "i"
+#define PRIdLEAST8  "d"
+#define PRIiLEAST8  "i"
+#define PRIdFAST8   "d"
+#define PRIiFAST8   "i"
+
+#define PRId16       "hd"
+#define PRIi16       "hi"
+#define PRIdLEAST16  "hd"
+#define PRIiLEAST16  "hi"
+#define PRIdFAST16   "hd"
+#define PRIiFAST16   "hi"
+
+#define PRId32       "I32d"
+#define PRIi32       "I32i"
+#define PRIdLEAST32  "I32d"
+#define PRIiLEAST32  "I32i"
+#define PRIdFAST32   "I32d"
+#define PRIiFAST32   "I32i"
+
+#define PRId64       "I64d"
+#define PRIi64       "I64i"
+#define PRIdLEAST64  "I64d"
+#define PRIiLEAST64  "I64i"
+#define PRIdFAST64   "I64d"
+#define PRIiFAST64   "I64i"
+
+#define PRIdMAX     "I64d"
+#define PRIiMAX     "I64i"
+
+#define PRIdPTR     "Id"
+#define PRIiPTR     "Ii"
+
+// The fprintf macros for unsigned integers are:
+#define PRIo8       "o"
+#define PRIu8       "u"
+#define PRIx8       "x"
+#define PRIX8       "X"
+#define PRIoLEAST8  "o"
+#define PRIuLEAST8  "u"
+#define PRIxLEAST8  "x"
+#define PRIXLEAST8  "X"
+#define PRIoFAST8   "o"
+#define PRIuFAST8   "u"
+#define PRIxFAST8   "x"
+#define PRIXFAST8   "X"
+
+#define PRIo16       "ho"
+#define PRIu16       "hu"
+#define PRIx16       "hx"
+#define PRIX16       "hX"
+#define PRIoLEAST16  "ho"
+#define PRIuLEAST16  "hu"
+#define PRIxLEAST16  "hx"
+#define PRIXLEAST16  "hX"
+#define PRIoFAST16   "ho"
+#define PRIuFAST16   "hu"
+#define PRIxFAST16   "hx"
+#define PRIXFAST16   "hX"
+
+#define PRIo32       "I32o"
+#define PRIu32       "I32u"
+#define PRIx32       "I32x"
+#define PRIX32       "I32X"
+#define PRIoLEAST32  "I32o"
+#define PRIuLEAST32  "I32u"
+#define PRIxLEAST32  "I32x"
+#define PRIXLEAST32  "I32X"
+#define PRIoFAST32   "I32o"
+#define PRIuFAST32   "I32u"
+#define PRIxFAST32   "I32x"
+#define PRIXFAST32   "I32X"
+
+#define PRIo64       "I64o"
+#define PRIu64       "I64u"
+#define PRIx64       "I64x"
+#define PRIX64       "I64X"
+#define PRIoLEAST64  "I64o"
+#define PRIuLEAST64  "I64u"
+#define PRIxLEAST64  "I64x"
+#define PRIXLEAST64  "I64X"
+#define PRIoFAST64   "I64o"
+#define PRIuFAST64   "I64u"
+#define PRIxFAST64   "I64x"
+#define PRIXFAST64   "I64X"
+
+#define PRIoMAX     "I64o"
+#define PRIuMAX     "I64u"
+#define PRIxMAX     "I64x"
+#define PRIXMAX     "I64X"
+
+#define PRIoPTR     "Io"
+#define PRIuPTR     "Iu"
+#define PRIxPTR     "Ix"
+#define PRIXPTR     "IX"
+
+// The fscanf macros for signed integers are:
+#define SCNd8       "d"
+#define SCNi8       "i"
+#define SCNdLEAST8  "d"
+#define SCNiLEAST8  "i"
+#define SCNdFAST8   "d"
+#define SCNiFAST8   "i"
+
+#define SCNd16       "hd"
+#define SCNi16       "hi"
+#define SCNdLEAST16  "hd"
+#define SCNiLEAST16  "hi"
+#define SCNdFAST16   "hd"
+#define SCNiFAST16   "hi"
+
+#define SCNd32       "ld"
+#define SCNi32       "li"
+#define SCNdLEAST32  "ld"
+#define SCNiLEAST32  "li"
+#define SCNdFAST32   "ld"
+#define SCNiFAST32   "li"
+
+#define SCNd64       "I64d"
+#define SCNi64       "I64i"
+#define SCNdLEAST64  "I64d"
+#define SCNiLEAST64  "I64i"
+#define SCNdFAST64   "I64d"
+#define SCNiFAST64   "I64i"
+
+#define SCNdMAX     "I64d"
+#define SCNiMAX     "I64i"
+
+#ifdef _WIN64 // [
+#  define SCNdPTR     "I64d"
+#  define SCNiPTR     "I64i"
+#else  // _WIN64 ][
+#  define SCNdPTR     "ld"
+#  define SCNiPTR     "li"
+#endif  // _WIN64 ]
+
+// The fscanf macros for unsigned integers are:
+#define SCNo8       "o"
+#define SCNu8       "u"
+#define SCNx8       "x"
+#define SCNX8       "X"
+#define SCNoLEAST8  "o"
+#define SCNuLEAST8  "u"
+#define SCNxLEAST8  "x"
+#define SCNXLEAST8  "X"
+#define SCNoFAST8   "o"
+#define SCNuFAST8   "u"
+#define SCNxFAST8   "x"
+#define SCNXFAST8   "X"
+
+#define SCNo16       "ho"
+#define SCNu16       "hu"
+#define SCNx16       "hx"
+#define SCNX16       "hX"
+#define SCNoLEAST16  "ho"
+#define SCNuLEAST16  "hu"
+#define SCNxLEAST16  "hx"
+#define SCNXLEAST16  "hX"
+#define SCNoFAST16   "ho"
+#define SCNuFAST16   "hu"
+#define SCNxFAST16   "hx"
+#define SCNXFAST16   "hX"
+
+#define SCNo32       "lo"
+#define SCNu32       "lu"
+#define SCNx32       "lx"
+#define SCNX32       "lX"
+#define SCNoLEAST32  "lo"
+#define SCNuLEAST32  "lu"
+#define SCNxLEAST32  "lx"
+#define SCNXLEAST32  "lX"
+#define SCNoFAST32   "lo"
+#define SCNuFAST32   "lu"
+#define SCNxFAST32   "lx"
+#define SCNXFAST32   "lX"
+
+#define SCNo64       "I64o"
+#define SCNu64       "I64u"
+#define SCNx64       "I64x"
+#define SCNX64       "I64X"
+#define SCNoLEAST64  "I64o"
+#define SCNuLEAST64  "I64u"
+#define SCNxLEAST64  "I64x"
+#define SCNXLEAST64  "I64X"
+#define SCNoFAST64   "I64o"
+#define SCNuFAST64   "I64u"
+#define SCNxFAST64   "I64x"
+#define SCNXFAST64   "I64X"
+
+#define SCNoMAX     "I64o"
+#define SCNuMAX     "I64u"
+#define SCNxMAX     "I64x"
+#define SCNXMAX     "I64X"
+
+#ifdef _WIN64 // [
+#  define SCNoPTR     "I64o"
+#  define SCNuPTR     "I64u"
+#  define SCNxPTR     "I64x"
+#  define SCNXPTR     "I64X"
+#else  // _WIN64 ][
+#  define SCNoPTR     "lo"
+#  define SCNuPTR     "lu"
+#  define SCNxPTR     "lx"
+#  define SCNXPTR     "lX"
+#endif  // _WIN64 ]
+
+#endif // __STDC_FORMAT_MACROS ]
+
+// 7.8.2 Functions for greatest-width integer types
+
+// 7.8.2.1 The imaxabs function
+#define imaxabs _abs64
+
+// 7.8.2.2 The imaxdiv function
+
+// This is modified version of div() function from Microsoft's div.c found
+// in %MSVC.NET%\crt\src\div.c
+#ifdef STATIC_IMAXDIV // [
+static
+#else // STATIC_IMAXDIV ][
+_inline
+#endif // STATIC_IMAXDIV ]
+imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom)
+{
+   imaxdiv_t result;
+
+   result.quot = numer / denom;
+   result.rem = numer % denom;
+
+   if (numer < 0 && result.rem > 0) {
+      // did division wrong; must fix up
+      ++result.quot;
+      result.rem -= denom;
+   }
+
+   return result;
+}
+
+// 7.8.2.3 The strtoimax and strtoumax functions
+#define strtoimax _strtoi64
+#define strtoumax _strtoui64
+
+// 7.8.2.4 The wcstoimax and wcstoumax functions
+#define wcstoimax _wcstoi64
+#define wcstoumax _wcstoui64
+
+
+#endif // _MSC_INTTYPES_H_ ]

src/apps/mavlinkgen/msinttypes/stdint.h

+// ISO C9x  compliant stdint.h for Microsoft Visual Studio
+// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 
+// 
+//  Copyright (c) 2006-2008 Alexander Chemeris
+// 
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+// 
+//   1. Redistributions of source code must retain the above copyright notice,
+//      this list of conditions and the following disclaimer.
+// 
+//   2. Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+// 
+//   3. The name of the author may be used to endorse or promote products
+//      derived from this software without specific prior written permission.
+// 
+// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
+// EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+// 
+///////////////////////////////////////////////////////////////////////////////
+
+#ifndef _MSC_VER // [
+#error "Use this header only with Microsoft Visual C++ compilers!"
+#endif // _MSC_VER ]
+
+#ifndef _MSC_STDINT_H_ // [
+#define _MSC_STDINT_H_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif
+
+#include <limits.h>
+
+// For Visual Studio 6 in C++ mode and for many Visual Studio versions when
+// compiling for ARM we should wrap <wchar.h> include with 'extern "C++" {}'
+// or compiler give many errors like this:
+//   error C2733: second C linkage of overloaded function 'wmemchr' not allowed
+#ifdef __cplusplus
+extern "C" {
+#endif
+#  include <wchar.h>
+#ifdef __cplusplus
+}
+#endif
+
+// Define _W64 macros to mark types changing their size, like intptr_t.
+#ifndef _W64
+#  if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
+#     define _W64 __w64
+#  else
+#     define _W64
+#  endif
+#endif
+
+
+// 7.18.1 Integer types
+
+// 7.18.1.1 Exact-width integer types
+
+// Visual Studio 6 and Embedded Visual C++ 4 doesn't
+// realize that, e.g. char has the same size as __int8
+// so we give up on __intX for them.
+#if (_MSC_VER < 1300)
+   typedef signed char       int8_t;
+   typedef signed short      int16_t;
+   typedef signed int        int32_t;
+   typedef unsigned char     uint8_t;
+   typedef unsigned short    uint16_t;
+   typedef unsigned int      uint32_t;
+#else
+   typedef signed __int8     int8_t;
+   typedef signed __int16    int16_t;
+   typedef signed __int32    int32_t;
+   typedef unsigned __int8   uint8_t;
+   typedef unsigned __int16  uint16_t;
+   typedef unsigned __int32  uint32_t;
+#endif
+typedef signed __int64       int64_t;
+typedef unsigned __int64     uint64_t;
+
+
+// 7.18.1.2 Minimum-width integer types
+typedef int8_t    int_least8_t;
+typedef int16_t   int_least16_t;
+typedef int32_t   int_least32_t;
+typedef int64_t   int_least64_t;
+typedef uint8_t   uint_least8_t;
+typedef uint16_t  uint_least16_t;
+typedef uint32_t  uint_least32_t;
+typedef uint64_t  uint_least64_t;
+
+// 7.18.1.3 Fastest minimum-width integer types
+typedef int8_t    int_fast8_t;
+typedef int16_t   int_fast16_t;
+typedef int32_t   int_fast32_t;
+typedef int64_t   int_fast64_t;
+typedef uint8_t   uint_fast8_t;
+typedef uint16_t  uint_fast16_t;
+typedef uint32_t  uint_fast32_t;
+typedef uint64_t  uint_fast64_t;
+
+// 7.18.1.4 Integer types capable of holding object pointers
+#ifdef _WIN64 // [
+   typedef signed __int64    intptr_t;
+   typedef unsigned __int64  uintptr_t;
+#else // _WIN64 ][
+   typedef _W64 signed int   intptr_t;
+   typedef _W64 unsigned int uintptr_t;
+#endif // _WIN64 ]
+
+// 7.18.1.5 Greatest-width integer types
+typedef int64_t   intmax_t;
+typedef uint64_t  uintmax_t;
+
+
+// 7.18.2 Limits of specified-width integer types
+
+#if !defined(__cplusplus) || defined(__STDC_LIMIT_MACROS) // [   See footnote 220 at page 257 and footnote 221 at page 259
+
+// 7.18.2.1 Limits of exact-width integer types
+#define INT8_MIN     ((int8_t)_I8_MIN)
+#define INT8_MAX     _I8_MAX
+#define INT16_MIN    ((int16_t)_I16_MIN)
+#define INT16_MAX    _I16_MAX
+#define INT32_MIN    ((int32_t)_I32_MIN)
+#define INT32_MAX    _I32_MAX
+#define INT64_MIN    ((int64_t)_I64_MIN)
+#define INT64_MAX    _I64_MAX
+#define UINT8_MAX    _UI8_MAX
+#define UINT16_MAX   _UI16_MAX
+#define UINT32_MAX   _UI32_MAX
+#define UINT64_MAX   _UI64_MAX
+
+// 7.18.2.2 Limits of minimum-width integer types
+#define INT_LEAST8_MIN    INT8_MIN
+#define INT_LEAST8_MAX    INT8_MAX
+#define INT_LEAST16_MIN   INT16_MIN
+#define INT_LEAST16_MAX   INT16_MAX
+#define INT_LEAST32_MIN   INT32_MIN
+#define INT_LEAST32_MAX   INT32_MAX
+#define INT_LEAST64_MIN   INT64_MIN
+#define INT_LEAST64_MAX   INT64_MAX
+#define UINT_LEAST8_MAX   UINT8_MAX
+#define UINT_LEAST16_MAX  UINT16_MAX
+#define UINT_LEAST32_MAX  UINT32_MAX
+#define UINT_LEAST64_MAX  UINT64_MAX
+
+// 7.18.2.3 Limits of fastest minimum-width integer types
+#define INT_FAST8_MIN    INT8_MIN
+#define INT_FAST8_MAX    INT8_MAX
+#define INT_FAST16_MIN   INT16_MIN
+#define INT_FAST16_MAX   INT16_MAX
+#define INT_FAST32_MIN   INT32_MIN
+#define INT_FAST32_MAX   INT32_MAX
+#define INT_FAST64_MIN   INT64_MIN
+#define INT_FAST64_MAX   INT64_MAX
+#define UINT_FAST8_MAX   UINT8_MAX
+#define UINT_FAST16_MAX  UINT16_MAX
+#define UINT_FAST32_MAX  UINT32_MAX
+#define UINT_FAST64_MAX  UINT64_MAX
+
+// 7.18.2.4 Limits of integer types capable of holding object pointers
+#ifdef _WIN64 // [
+#  define INTPTR_MIN   INT64_MIN
+#  define INTPTR_MAX   INT64_MAX
+#  define UINTPTR_MAX  UINT64_MAX
+#else // _WIN64 ][
+#  define INTPTR_MIN   INT32_MIN
+#  define INTPTR_MAX   INT32_MAX
+#  define UINTPTR_MAX  UINT32_MAX
+#endif // _WIN64 ]
+
+// 7.18.2.5 Limits of greatest-width integer types
+#define INTMAX_MIN   INT64_MIN
+#define INTMAX_MAX   INT64_MAX
+#define UINTMAX_MAX  UINT64_MAX
+
+// 7.18.3 Limits of other integer types
+
+#ifdef _WIN64 // [
+#  define PTRDIFF_MIN  _I64_MIN
+#  define PTRDIFF_MAX  _I64_MAX
+#else  // _WIN64 ][
+#  define PTRDIFF_MIN  _I32_MIN
+#  define PTRDIFF_MAX  _I32_MAX
+#endif  // _WIN64 ]
+
+#define SIG_ATOMIC_MIN  INT_MIN
+#define SIG_ATOMIC_MAX  INT_MAX
+
+#ifndef SIZE_MAX // [
+#  ifdef _WIN64 // [
+#     define SIZE_MAX  _UI64_MAX
+#  else // _WIN64 ][
+#     define SIZE_MAX  _UI32_MAX
+#  endif // _WIN64 ]
+#endif // SIZE_MAX ]
+
+// WCHAR_MIN and WCHAR_MAX are also defined in <wchar.h>
+#ifndef WCHAR_MIN // [
+#  define WCHAR_MIN  0
+#endif  // WCHAR_MIN ]
+#ifndef WCHAR_MAX // [
+#  define WCHAR_MAX  _UI16_MAX
+#endif  // WCHAR_MAX ]
+
+#define WINT_MIN  0
+#define WINT_MAX  _UI16_MAX
+
+#endif // __STDC_LIMIT_MACROS ]
+
+
+// 7.18.4 Limits of other integer types
+
+#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [   See footnote 224 at page 260
+
+// 7.18.4.1 Macros for minimum-width integer constants
+
+#define INT8_C(val)  val##i8
+#define INT16_C(val) val##i16
+#define INT32_C(val) val##i32
+#define INT64_C(val) val##i64
+
+#define UINT8_C(val)  val##ui8
+#define UINT16_C(val) val##ui16
+#define UINT32_C(val) val##ui32
+#define UINT64_C(val) val##ui64
+
+// 7.18.4.2 Macros for greatest-width integer constants
+#define INTMAX_C   INT64_C
+#define UINTMAX_C  UINT64_C
+
+#endif // __STDC_CONSTANT_MACROS ]
+
+
+#endif // _MSC_STDINT_H_ ]

src/apps/mavlinkgen/template/checksum.h

+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _CHECKSUM_H_
+#define _CHECKSUM_H_
+
+#include "inttypes.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);
+//        *crcAccum += data; // super simple to test
+}
+
+/**
+ * @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(uint8_t* pBuffer, int length)
+{
+
+        // For a "message" of length bytes contained in the unsigned char array
+        // pointed to by pBuffer, calculate the CRC
+        // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+        uint16_t crcTmp;
+        //uint16_t tmp;
+        uint8_t* pTmp;
+		int i;
+
+        pTmp=pBuffer;
+        
+
+        /* init crcTmp */
+        crc_init(&crcTmp);
+
+        for (i = 0; i < length; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        /* This is currently not needed, as only the checksum over payload should be computed
+        tmp = crcTmp;
+        crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
+        crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
+        *checkConst = tmp;
+        */
+        return(crcTmp);
+}
+
+
+/**
+ * @brief Calculates the X.25 checksum on a msg buffer
+ *
+ * @param  pMSG buffer containing the msg to hash
+ * @param  length  number of bytes to hash
+ * @return the checksum over the buffer bytes
+ **/
+static inline uint16_t crc_calculate_msg(mavlink_message_t* pMSG, int length)
+{
+
+        // For a "message" of length bytes contained in the unsigned char array
+        // pointed to by pBuffer, calculate the CRC
+        // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+        uint16_t crcTmp;
+        //uint16_t tmp;
+        uint8_t* pTmp;
+		int i;
+
+        pTmp=&pMSG->len;
+       
+        /* init crcTmp */
+        crc_init(&crcTmp);
+
+        for (i = 0; i < 5; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        pTmp=&pMSG->payload[0];
+        for (; i < length; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        /* This is currently not needed, as only the checksum over payload should be computed
+        tmp = crcTmp;
+        crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
+        crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
+        *checkConst = tmp;
+        */
+        return(crcTmp);
+}
+
+
+
+
+#endif /* _CHECKSUM_H_ */
+
+#ifdef __cplusplus
+}
+#endif

src/apps/mavlinkgen/template/documentation.dox

+/**
+ * @file
+ *   @brief MAVLink communication protocol
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+/** 
+ * @mainpage MAVLink API Documentation
+ * 
+ * @section intro_sec Introduction
+ * 
+ * This <a href="http://en.wikipedia.org/wiki/API" target="_blank">API</a> documentation covers the MAVLink
+ * protocol developed <a href="http://pixhawk.ethz.ch" target="_blank">PIXHAWK</a> project.
+ * In case you have generated this documentation locally, the most recent version (generated on every commit)
+ * is also publicly available on the internet.
+ *
+ * @sa http://pixhawk.ethz.ch/api/qgroundcontrol/ - Groundstation code base
+ * @sa http://pixhawk.ethz.ch/api/mavlink - (this) MAVLink communication protocol
+ * @sa http://pixhawk.ethz.ch/api/imu_autopilot/ - Flight board (ARM MCU) code base
+ * @sa http://pixhawk.ethz.ch/api/ai_vision - Computer Vision / AI API docs
+ *
+ * @section further_sec Further Information
+ *
+ * How to run our software and a general overview of the software architecture is documented in the project
+ * wiki pages.
+ *
+ * @sa http://pixhawk.ethz.ch/software/mavlink/ - MAVLink main documentation
+ *
+ * See the <a href="http://pixhawk.ethz.ch" target="_blank">PIXHAWK website</a> for more information.
+ * 
+ * @section usage_sec Doxygen Usage
+ *
+ * You can exclude files from being parsed into this Doxygen documentation 
+ * by adding them to the EXCLUDE list in the file in embedded/cmake/doc/api/doxy.config.in.
+ *
+ *
+ *
+ **/

src/apps/mavlinkgen/template/mavlink_checksum.h

+/** @file
+ *	@brief MAVLink comm protocol checksum routines.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	Edited on Monday, August 8 2011
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _CHECKSUM_H_
+#define _CHECKSUM_H_
+
+#include "inttypes.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);
+//        *crcAccum += data; // super simple to test
+}
+
+/**
+ * @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 Initiliaze the buffer for the X.25 CRC to a specified value
+ *
+ * @param crcAccum the 16 bit X.25 CRC
+ */
+static inline void crc_init2(uint16_t* crcAccum, uint16_t crcValue)
+{
+        *crcAccum = crcValue;
+}
+
+
+
+/**
+ * @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(uint8_t* pBuffer, int length)
+{
+
+        // For a "message" of length bytes contained in the unsigned char array
+        // pointed to by pBuffer, calculate the CRC
+        // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+        uint16_t crcTmp;
+        //uint16_t tmp;
+        uint8_t* pTmp;
+		int i;
+
+        pTmp=pBuffer;
+        
+
+        /* init crcTmp */
+        crc_init(&crcTmp);
+
+        for (i = 0; i < length; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        /* This is currently not needed, as only the checksum over payload should be computed
+        tmp = crcTmp;
+        crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
+        crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
+        *checkConst = tmp;
+        */
+        return(crcTmp);
+}
+
+/**
+ * @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_mem(uint8_t *pBuffer, uint16_t *crcTmp, int length)
+{
+
+        // For a "message" of length bytes contained in the unsigned char array
+        // pointed to by pBuffer, calculate the CRC
+        // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+        //uint16_t tmp;
+        //uint8_t* pTmp;
+		int i;
+
+//        pTmp=pBuffer;
+        
+        for (i = 0; i < length; i++){
+                crc_accumulate(*pBuffer++, crcTmp);
+        }
+
+        return(*crcTmp);
+}
+
+
+/**
+ * @brief Calculates the X.25 checksum on a msg buffer
+ *
+ * @param  pMSG buffer containing the msg to hash
+ * @param  length  number of bytes to hash
+ * @return the checksum over the buffer bytes
+ **/
+static inline uint16_t crc_calculate_msg(mavlink_message_t* pMSG, int length)
+{
+
+        // For a "message" of length bytes contained in the unsigned char array
+        // pointed to by pBuffer, calculate the CRC
+        // crcCalculate(unsigned char* pBuffer, int length, unsigned short* checkConst) < not needed
+
+        uint16_t crcTmp;
+        //uint16_t tmp;
+        uint8_t* pTmp;
+		int i;
+
+        pTmp=&pMSG->len;
+       
+        /* init crcTmp */
+        crc_init(&crcTmp);
+
+        for (i = 0; i < 5; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        pTmp=&pMSG->payload[0];
+        for (; i < length; i++){
+                crc_accumulate(*pTmp++, &crcTmp);
+        }
+
+        /* This is currently not needed, as only the checksum over payload should be computed
+        tmp = crcTmp;
+        crcAccumulate((unsigned char)(~crcTmp & 0xff),&tmp);
+        crcAccumulate((unsigned char)((~crcTmp>>8)&0xff),&tmp);
+        *checkConst = tmp;
+        */
+        return(crcTmp);
+}
+
+
+
+
+#endif /* _CHECKSUM_H_ */
+
+#ifdef __cplusplus
+}
+#endif

src/apps/mavlinkgen/template/mavlink_data.h

+/** @file
+ *	@brief Main MAVLink comm protocol data.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	Edited on Monday, August 8 2011
+ */
+
+#ifndef  _ML_DATA_H_
+#define  _ML_DATA_H_
+
+#include "mavlink_types.h"
+
+#ifdef MAVLINK_CHECK_LENGTH
+const uint8_t MAVLINK_CONST mavlink_msg_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
+#endif
+
+const uint8_t MAVLINK_CONST mavlink_msg_keys[256] = MAVLINK_MESSAGE_KEYS;
+
+mavlink_status_t m_mavlink_status[MAVLINK_COMM_NB];
+mavlink_message_t m_mavlink_message[MAVLINK_COMM_NB];
+mavlink_system_t mavlink_system;
+#endif
\ No newline at end of file

src/apps/mavlinkgen/template/mavlink_options.h

+/** @file
+ *	@brief MAVLink comm protocol option constants.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	Edited on Monday, August 8 2011
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef _ML_OPTIONS_H_
+#define _ML_OPTIONS_H_
+
+
+/**
+ *
+ *  Receive message length check option. On receive verify the length field
+ *  as soon as the message ID field is received. Requires a 256 byte const
+ *  table. Comment out the define to leave out the table and code to check it.
+ *
+ */
+//#define MAVLINK_CHECK_LENGTH
+
+/**
+ *
+ *  Receive message buffer option. This option should be used only when the
+ *  side effects are understood but allows the underlying program access to
+ *  the internal recieve buffer - eliminating the usual double buffering. It
+ *  also REQUIRES changes in the return type of mavlink_parse_char so only
+ *  enable if you make the changes required. Default DISABLED.
+ *
+ */
+//#define MAVLINK_STATIC_BUFFER
+
+/**
+ *
+ *  Receive message buffers option. This option defines how many msg buffers
+ *  mavlink will define, and thereby how many links it can support. A default
+ *  will be supplied if the symbol is not pre-defined, dependant on the make
+ *  envionment. The default is 16 for a recognised OS envionment and 1
+ *  otherwise.
+ *
+ */
+#if !((defined MAVLINK_COMM_NB) | (MAVLINK_COMM_NB < 1))
+#undef MAVLINK_COMM_NB
+  #if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32) | (defined __APPLE__)
+  #define MAVLINK_COMM_NB 16
+  #else
+  #define MAVLINK_COMM_NB 1
+  #endif
+#endif
+
+
+/**
+ *
+ *  Data relization option. This option controls inclusion of the file 
+ *  mavlink_data.h in the current compile unit - thus defining mavlink's 
+ *  variables. Default is ON (not defined) because typically mavlink.h is only
+ *  included once in a system but if it was used in two files there would
+ *  be duplicate variables at link time. Normal practice would be to define
+ *  this symbol outside of this file as defining it here will cause missing
+ *  symbols at link time. In other words in the first file to include mavlink.h
+ *  do not define this sybol, then define this symbol in all other files before
+ *  including mavlink.h
+ *
+ */
+//#define MAVLINK_NO_DATA
+#ifdef MAVLINK_NO_DATA
+  #undef MAVLINK_DATA
+#else
+  #define MAVLINK_DATA
+#endif
+
+/**
+ *
+ *  Custom data const data relization and access options. 
+ *  This define is placed in the form 
+ *  const uint8_t MAVLINK_CONST name[] = { ... }; 
+ *  for the keys table and (if applicable) lengths table to tell the compiler 
+ *  were to put the data. The access option is placed in the form
+ *  variable = MAVLINK_CONST_READ( name[i] );
+ *  in order to allow custom read function's or accessors.
+ *  By default MAVLINK_CONST is defined as nothing and MAVLINK_CONST_READ as
+ *  MAVLINK_CONST_READ( a ) a
+ *  These symbols are only defined if not already defined allowing this file
+ *  to remain unchanged while the actual definitions are maintained in external
+ *  files.
+ *
+ */
+#ifndef MAVLINK_CONST
+#define MAVLINK_CONST
+#endif
+#ifndef MAVLINK_CONST_READ
+#define MAVLINK_CONST_READ( a ) a
+#endif
+
+
+/**
+ *
+ *  Convience functions. These are all in one send functions that are very
+ *  easy to use. Just define the symbol MAVLINK_USE_CONVENIENCE_FUNCTIONS.
+ *  These functions also support a buffer check, to ensure there is enough
+ *  space in your comm buffer that the function would not block - it could
+ *  also be used as the basis of a MUTEX. This is implemented in the send
+ *  function as a macro with two arguments, first the comm chan number and
+ *  the message length in the form 
+ *  MAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_LEN )
+ *  followed by the function code and then
+ *  MAVLINK_BUFFER_CHECK_START
+ *  Note that there are no terminators on these statements to allow for
+ *  code nesting or other constructs. Default value for both is empty.
+ *  A sugested implementation is shown below and the symbols will be defined
+ *  only if they are not allready.
+ *
+ *  if ( serial_space( chan ) > len ) { // serial_space returns available space
+ *  ..... code that creates message
+ *  } 
+ *
+ *  #define MAVLINK_BUFFER_CHECK_START( c, l ) if ( serial_space( c ) > l ) {
+ *  #define MAVLINK_BUFFER_CHECK_END }
+ *
+ */
+//#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+#ifndef MAVLINK_BUFFER_CHECK_START
+#define MAVLINK_BUFFER_CHECK_START( c, l ) ;
+#endif
+#ifndef MAVLINK_BUFFER_CHECK_END
+#define MAVLINK_BUFFER_CHECK_END ;
+#endif
+
+#endif /* _ML_OPTIONS_H_ */
+
+#ifdef __cplusplus
+}
+#endif

src/apps/mavlinkgen/template/mavlink_types.h

+/** @file
+ *	@brief MAVLink comm protocol enumerations / structures / constants.
+ *	@see http://qgroundcontrol.org/mavlink/
+ *	Edited on Monday, August 8 2011
+ */
+
+#ifndef MAVLINK_TYPES_H_
+#define MAVLINK_TYPES_H_
+
+#include "inttypes.h"
+
+#define MAVLINK_STX 0xD5 ///< Packet start sign
+#define MAVLINK_STX_LEN 1 ///< Length of start sign
+#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
+
+#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 + MAVLINK_STX_LEN) ///< 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_NUM_NON_STX_PAYLOAD_BYTES (MAVLINK_NUM_NON_PAYLOAD_BYTES - MAVLINK_STX_LEN)
+
+#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
+//#define MAVLINK_MAX_DATA_LEN MAVLINK_MAX_PACKET_LEN - MAVLINK_STX_LEN
+
+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
+{
+	union
+	{
+		uint16_t ck;     ///< Checksum word
+		struct
+		{
+			uint8_t ck_a;    ///< Checksum low byte
+			uint8_t ck_b;    ///< Checksum high byte
+                };
+	};
+    uint8_t STX;     ///< start of packet 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
+    uint8_t payload[MAVLINK_MAX_PAYLOAD_LEN]; ///< Payload data, ALIGNMENT IMPORTANT ON MCU
+} mavlink_message_t;
+
+typedef struct __mavlink_header
+{
+	union
+	{
+		uint16_t ck;     ///< Checksum word
+		struct
+		{
+			uint8_t ck_a;    ///< Checksum low byte
+			uint8_t ck_b;    ///< Checksum high byte
+                };
+	};
+    uint8_t STX;     ///< start of packet 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
+} mavlink_header_t;
+
+typedef enum
+{
+    MAVLINK_COMM_0,
+    MAVLINK_COMM_1,
+    MAVLINK_COMM_2,
+    MAVLINK_COMM_3,
+    MAVLINK_COMM_NB,
+    MAVLINK_COMM_NB_HIGH = 16
+} mavlink_channel_t;
+
+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
+{
+	union
+	{
+		uint16_t ck;     ///< Checksum word
+		struct
+		{
+			uint8_t ck_a;    ///< Checksum low byte
+			uint8_t ck_b;    ///< Checksum high byte
+                };
+	};
+    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;
+
+#endif /* MAVLINK_TYPES_H_ */

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc

@@ -6,6 +6,7 @@
 #include "XMLCommProtocolWidget.h"
 #include "ui_XMLCommProtocolWidget.h"
 #include "MAVLinkXMLParser.h"
+#include "MAVLinkXMLParserV10.h"
 
 #include <QDebug>
 #include <iostream>
@@ -131,18 +132,37 @@ void XMLCommProtocolWidget::generate()
         // Syntax check already gives output
         return;
     }
-	
-    MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
-    connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
-    bool result = parser->generate();
-    if (result) {
+
+    MAVLinkXMLParser* parser = NULL;
+    MAVLinkXMLParserV10* parserV10 = NULL;
+
+    bool result = false;
+
+    if (m_ui->versionComboBox->currentIndex() == 1)
+    {
+        MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parser->generate();
+    }
+    else if (m_ui->versionComboBox->currentIndex() == 0)
+    {
+        MAVLinkXMLParserV10* parserV10 = new MAVLinkXMLParserV10(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parserV10, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parserV10->generate();
+    }
+
+    if (result)
+    {
         QMessageBox msgBox;
         msgBox.setText(QString("The C code / headers have been generated in folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()));
         msgBox.exec();
-    } else {
+    }
+    else
+    {
         QMessageBox::critical(this, tr("C code generation failed, please see the compile log for further information"), QString("The C code / headers could not be written to folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()), QMessageBox::Ok);
     }
-    delete parser;
+    if (parser) delete parser;
+    if (parserV10) delete parserV10;
 }
 
 void XMLCommProtocolWidget::save()

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1" columnstretch="1,1,1,100">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1,0" columnstretch="1,1,1,100">
    <property name="topMargin">
     <number>6</number>
    </property>
@@ -51,12 +51,12 @@
       <string>Select input file</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="0" column="3" rowspan="6">
+   <item row="0" column="3" rowspan="7">
     <widget class="QGCMAVLinkTextEdit" name="xmlTextView">
      <property name="minimumSize">
       <size>
@@ -97,49 +97,70 @@
       <string>Select directory</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="2" column="0" colspan="3">
+   <item row="3" column="0" colspan="3">
     <widget class="QTreeView" name="xmlTreeView"/>
    </item>
-   <item row="3" column="0" colspan="2">
+   <item row="4" column="0" colspan="2">
     <widget class="QLabel" name="label">
      <property name="text">
       <string>Compile Output</string>
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="3">
+   <item row="5" column="0" colspan="3">
     <widget class="QPlainTextEdit" name="compileLog"/>
    </item>
-   <item row="5" column="0">
+   <item row="6" column="0">
     <widget class="QLabel" name="validXMLLabel">
      <property name="text">
       <string>No file loaded</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="1">
+   <item row="6" column="1">
     <widget class="QPushButton" name="saveButton">
      <property name="text">
       <string>Save file</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="2">
+   <item row="6" column="2">
     <widget class="QPushButton" name="generateButton">
      <property name="text">
       <string>Save and generate</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
      </property>
     </widget>
    </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Select MAVLink Version</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QComboBox" name="versionComboBox">
+      <item>
+        <property name="text">
+          <string>MAVLink v1.0 (Sept'10+)</string>
+        </property>
+      </item>
+     <item>
+      <property name="text">
+       <string>MAVLink v0.9 (-Aug'10)</string>
+      </property>
+     </item>
+    </widget>
+   </item>
   </layout>
  </widget>
  <customwidgets>
@@ -150,7 +171,7 @@
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="../mavlinkgen.qrc"/>
+  <include location="../../../../qgroundcontrol.qrc"/>
  </resources>
  <connections/>
 </ui>