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Commit 84fcead8 authored by oberion's avatar oberion
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Working mavlink generator under windows 

Added a mavgen.exe file which converts the xml into the header files. Only mavlink v1.0 is tested so far. the fixed headers in files/mavlink_generator/C should always be updated to the newest versions.
parent 5505fab4
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Showing with 49 additions and 35 deletions
files/mavlink_generator/C/include_v1.0/mavlink_helpers.h
View file @ 84fcead8
......@@ -120,7 +120,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
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;
}
......@@ -182,7 +182,15 @@ 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)
{
#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
#endif
#else
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
#endif
/*
default message crc function. You can override this per-system to
......@@ -209,6 +217,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg);
}
break;
......@@ -269,7 +278,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
......@@ -296,6 +305,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
break;
......@@ -317,6 +327,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
// 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;
......
files/mavlink_generator/C/include_v1.0/mavlink_types.h
View file @ 84fcead8
#ifndef MAVLINK_TYPES_H_
#define MAVLINK_TYPES_H_
#include <inttypes.h>
enum MAV_ACTION
{
MAV_ACTION_HOLD = 0,
......@@ -66,6 +68,8 @@ typedef struct param_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;
......@@ -110,9 +114,9 @@ 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 array_length; // if non-zero, field is an array
unsigned wire_offset; // offset of each field in the payload
unsigned structure_offset; // offset in a C structure
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
......@@ -123,11 +127,12 @@ typedef struct __mavlink_message_info {
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
#define _MAV_PAYLOAD(msg) ((const char *)(&(msg)->payload64[0]))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)((char *)(&(msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
#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,
......
files/mavlink_generator/C/include_v1.0/protocol.h
View file @ 84fcead8
......@@ -153,17 +153,25 @@ static inline void byte_copy_8(char *dst, const char *src)
#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)
{
if (b == NULL) {
memset(&buf[wire_offset], 0, array_length);
} else {
memcpy(&buf[wire_offset], b, array_length);
}
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -171,11 +179,8 @@ static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const cha
*/
static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
{
if (b == NULL) {
memset(&buf[wire_offset], 0, array_length);
} else {
memcpy(&buf[wire_offset], b, array_length);
}
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -183,11 +188,8 @@ static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const
*/
static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
{
if (b == NULL) {
memset(&buf[wire_offset], 0, array_length);
} else {
memcpy(&buf[wire_offset], b, array_length);
}
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
#if MAVLINK_NEED_BYTE_SWAP
......@@ -207,11 +209,7 @@ static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, co
#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 { \
memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
} \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
}
#endif
......@@ -224,9 +222,9 @@ _MAV_PUT_ARRAY(int64_t, i64)
_MAV_PUT_ARRAY(float, f)
_MAV_PUT_ARRAY(double, d)
#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#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) \
......
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc
View file @ 84fcead8
......@@ -96,7 +96,7 @@ void MAVLinkXMLParserV10::processError(QProcess::ProcessError err)
bool MAVLinkXMLParserV10::generate()
{
#ifdef Q_OS_WIN
QString generatorCall("%1/files/mavlink_generator/generator/mavgen.exe");
QString generatorCall("files/mavlink_generator/generator/mavgen.exe");
#endif
#if (defined Q_OS_MAC) || (defined Q_OS_LINUX)
QString generatorCall("python");
......
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