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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
| 2 | |||
| 3 | /// @file GCS_MAVLink.h |
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| 4 | /// @brief One size fits all header for MAVLink integration. |
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| 5 | |||
| 6 | #ifndef GCS_MAVLink_h |
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| 7 | #define GCS_MAVLink_h |
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| 8 | |||
| 9 | #include <BetterStream.h> |
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| 10 | |||
| 11 | // we have separate helpers disabled to make it possible |
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| 12 | // to select MAVLink 1.0 in the arduino GUI build |
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| 13 | //#define MAVLINK_SEPARATE_HELPERS |
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| 14 | |||
| 15 | #ifdef MAVLINK10 |
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| 16 | # include "include/mavlink/v1.0/ardupilotmega/version.h" |
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| 17 | #else |
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| 18 | # include "include/mavlink/v0.9/ardupilotmega/version.h" |
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| 19 | #endif |
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| 20 | |||
| 21 | // this allows us to make mavlink_message_t much smaller |
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| 22 | #define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE |
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| 23 | |||
| 24 | #define MAVLINK_COMM_NUM_BUFFERS 2 |
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| 25 | #ifdef MAVLINK10 |
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| 26 | # include "include/mavlink/v1.0/mavlink_types.h" |
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| 27 | #else |
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| 28 | # include "include/mavlink/v0.9/mavlink_types.h" |
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| 29 | #endif |
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| 30 | |||
| 31 | /// MAVLink stream used for HIL interaction |
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| 32 | extern BetterStream *mavlink_comm_0_port; |
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| 33 | |||
| 34 | /// MAVLink stream used for ground control communication |
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| 35 | extern BetterStream *mavlink_comm_1_port; |
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| 36 | |||
| 37 | /// MAVLink system definition |
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| 38 | extern mavlink_system_t mavlink_system; |
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| 39 | |||
| 40 | /// Send a byte to the nominated MAVLink channel |
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| 41 | /// |
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| 42 | /// @param chan Channel to send to |
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| 43 | /// @param ch Byte to send |
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| 44 | /// |
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| 45 | static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch) |
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| 46 | { |
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| 47 | switch(chan) { |
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| 48 | case MAVLINK_COMM_0: |
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| 49 | mavlink_comm_0_port->write(ch); |
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| 50 | break; |
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| 51 | case MAVLINK_COMM_1: |
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| 52 | mavlink_comm_1_port->write(ch); |
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| 53 | break; |
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| 54 | default: |
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| 55 | break; |
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| 56 | } |
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| 57 | } |
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| 58 | |||
| 59 | /// Read a byte from the nominated MAVLink channel |
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| 60 | /// |
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| 61 | /// @param chan Channel to receive on |
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| 62 | /// @returns Byte read |
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| 63 | /// |
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| 64 | static inline uint8_t comm_receive_ch(mavlink_channel_t chan) |
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| 65 | { |
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| 66 | uint8_t data = 0; |
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| 67 | |||
| 68 | switch(chan) { |
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| 69 | case MAVLINK_COMM_0: |
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| 70 | data = mavlink_comm_0_port->read(); |
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| 71 | break; |
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| 72 | case MAVLINK_COMM_1: |
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| 73 | data = mavlink_comm_1_port->read(); |
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| 74 | break; |
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| 75 | default: |
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| 76 | break; |
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| 77 | } |
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| 78 | return data; |
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| 79 | } |
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| 80 | |||
| 81 | /// Check for available data on the nominated MAVLink channel |
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| 82 | /// |
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| 83 | /// @param chan Channel to check |
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| 84 | /// @returns Number of bytes available |
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| 85 | static inline uint16_t comm_get_available(mavlink_channel_t chan) |
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| 86 | { |
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| 87 | uint16_t bytes = 0; |
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| 88 | switch(chan) { |
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| 89 | case MAVLINK_COMM_0: |
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| 90 | bytes = mavlink_comm_0_port->available(); |
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| 91 | break; |
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| 92 | case MAVLINK_COMM_1: |
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| 93 | bytes = mavlink_comm_1_port->available(); |
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| 94 | break; |
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| 95 | default: |
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| 96 | break; |
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| 97 | } |
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| 98 | return bytes; |
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| 99 | } |
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| 100 | |||
| 101 | |||
| 102 | /// Check for available transmit space on the nominated MAVLink channel |
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| 103 | /// |
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| 104 | /// @param chan Channel to check |
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| 105 | /// @returns Number of bytes available, -1 for error |
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| 106 | static inline int comm_get_txspace(mavlink_channel_t chan) |
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| 107 | { |
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| 108 | switch(chan) { |
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| 109 | case MAVLINK_COMM_0: |
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| 110 | return mavlink_comm_0_port->txspace(); |
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| 111 | break; |
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| 112 | case MAVLINK_COMM_1: |
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| 113 | return mavlink_comm_1_port->txspace(); |
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| 114 | break; |
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| 115 | default: |
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| 116 | break; |
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| 117 | } |
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| 118 | return -1; |
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| 119 | } |
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| 120 | |||
| 121 | #define MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 122 | #ifdef MAVLINK10 |
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| 123 | # include "include/mavlink/v1.0/ardupilotmega/mavlink.h" |
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| 124 | #else |
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| 125 | # include "include/mavlink/v0.9/ardupilotmega/mavlink.h" |
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| 126 | #endif |
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| 127 | |||
| 128 | uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid); |
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| 129 | |||
| 130 | #endif // GCS_MAVLink_h |