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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | #ifndef _MAVLINK_PROTOCOL_H_ |
| 2 | #define _MAVLINK_PROTOCOL_H_ |
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| 3 | |||
| 4 | #include "string.h" |
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| 5 | #include "mavlink_types.h" |
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| 6 | |||
| 7 | /* |
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| 8 | If you want MAVLink on a system that is native big-endian, |
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| 9 | you need to define NATIVE_BIG_ENDIAN |
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| 10 | */ |
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| 11 | #ifdef NATIVE_BIG_ENDIAN |
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| 12 | # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN) |
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| 13 | #else |
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| 14 | # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN) |
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| 15 | #endif |
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| 16 | |||
| 17 | #ifndef MAVLINK_STACK_BUFFER |
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| 18 | #define MAVLINK_STACK_BUFFER 0 |
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| 19 | #endif |
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| 20 | |||
| 21 | #ifndef MAVLINK_AVOID_GCC_STACK_BUG |
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| 22 | # define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) |
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| 23 | #endif |
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| 24 | |||
| 25 | #ifndef MAVLINK_ASSERT |
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| 26 | #define MAVLINK_ASSERT(x) |
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| 27 | #endif |
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| 28 | |||
| 29 | #ifndef MAVLINK_START_UART_SEND |
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| 30 | #define MAVLINK_START_UART_SEND(chan, length) |
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| 31 | #endif |
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| 32 | |||
| 33 | #ifndef MAVLINK_END_UART_SEND |
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| 34 | #define MAVLINK_END_UART_SEND(chan, length) |
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| 35 | #endif |
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| 36 | |||
| 37 | #ifdef MAVLINK_SEPARATE_HELPERS |
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| 38 | #define MAVLINK_HELPER |
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| 39 | #else |
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| 40 | #define MAVLINK_HELPER static inline |
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| 41 | #include "mavlink_helpers.h" |
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| 42 | #endif // MAVLINK_SEPARATE_HELPERS |
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| 43 | |||
| 44 | /* always include the prototypes to ensure we don't get out of sync */ |
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| 45 | MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); |
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| 46 | #if MAVLINK_CRC_EXTRA |
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| 47 | MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, |
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| 48 | uint8_t chan, uint8_t length, uint8_t crc_extra); |
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| 49 | MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, |
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| 50 | uint8_t length, uint8_t crc_extra); |
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| 51 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 52 | MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, |
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| 53 | uint8_t length, uint8_t crc_extra); |
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| 54 | #endif |
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| 55 | #else |
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| 56 | MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, |
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| 57 | uint8_t chan, uint8_t length); |
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| 58 | MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, |
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| 59 | uint8_t length); |
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| 60 | MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length); |
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| 61 | #endif // MAVLINK_CRC_EXTRA |
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| 62 | MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); |
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| 63 | MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); |
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| 64 | MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); |
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| 65 | MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); |
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| 66 | MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, |
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| 67 | uint8_t* r_bit_index, uint8_t* buffer); |
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| 68 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 69 | MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); |
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| 70 | #endif |
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| 71 | |||
| 72 | /** |
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| 73 | * @brief Get the required buffer size for this message |
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| 74 | */ |
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| 75 | static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) |
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| 76 | { |
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| 77 | return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; |
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| 78 | } |
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| 79 | |||
| 80 | #if MAVLINK_NEED_BYTE_SWAP |
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| 81 | static inline void byte_swap_2(char *dst, const char *src) |
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| 82 | { |
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| 83 | dst[0] = src[1]; |
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| 84 | dst[1] = src[0]; |
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| 85 | } |
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| 86 | static inline void byte_swap_4(char *dst, const char *src) |
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| 87 | { |
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| 88 | dst[0] = src[3]; |
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| 89 | dst[1] = src[2]; |
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| 90 | dst[2] = src[1]; |
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| 91 | dst[3] = src[0]; |
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| 92 | } |
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| 93 | static inline void byte_swap_8(char *dst, const char *src) |
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| 94 | { |
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| 95 | dst[0] = src[7]; |
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| 96 | dst[1] = src[6]; |
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| 97 | dst[2] = src[5]; |
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| 98 | dst[3] = src[4]; |
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| 99 | dst[4] = src[3]; |
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| 100 | dst[5] = src[2]; |
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| 101 | dst[6] = src[1]; |
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| 102 | dst[7] = src[0]; |
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| 103 | } |
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| 104 | #elif !MAVLINK_ALIGNED_FIELDS |
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| 105 | static inline void byte_copy_2(char *dst, const char *src) |
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| 106 | { |
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| 107 | dst[0] = src[0]; |
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| 108 | dst[1] = src[1]; |
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| 109 | } |
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| 110 | static inline void byte_copy_4(char *dst, const char *src) |
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| 111 | { |
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| 112 | dst[0] = src[0]; |
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| 113 | dst[1] = src[1]; |
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| 114 | dst[2] = src[2]; |
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| 115 | dst[3] = src[3]; |
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| 116 | } |
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| 117 | static inline void byte_copy_8(char *dst, const char *src) |
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| 118 | { |
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| 119 | memcpy(dst, src, 8); |
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| 120 | } |
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| 121 | #endif |
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| 122 | |||
| 123 | #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b |
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| 124 | #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b |
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| 125 | #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b |
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| 126 | |||
| 127 | #if MAVLINK_NEED_BYTE_SWAP |
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| 128 | #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) |
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| 129 | #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) |
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| 130 | #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) |
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| 131 | #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) |
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| 132 | #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) |
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| 133 | #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) |
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| 134 | #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) |
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| 135 | #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) |
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| 136 | #elif !MAVLINK_ALIGNED_FIELDS |
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| 137 | #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) |
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| 138 | #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) |
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| 139 | #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) |
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| 140 | #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) |
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| 141 | #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) |
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| 142 | #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) |
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| 143 | #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) |
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| 144 | #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) |
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| 145 | #else |
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| 146 | #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b |
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| 147 | #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b |
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| 148 | #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b |
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| 149 | #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b |
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| 150 | #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b |
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| 151 | #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b |
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| 152 | #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b |
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| 153 | #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b |
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| 154 | #endif |
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| 155 | |||
| 156 | /* |
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| 157 | like memcpy(), but if src is NULL, do a memset to zero |
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| 158 | */ |
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| 159 | static void mav_array_memcpy(void *dest, const void *src, size_t n) |
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| 160 | { |
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| 161 | if (src == NULL) { |
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| 162 | memset(dest, 0, n); |
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| 163 | } else { |
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| 164 | memcpy(dest, src, n); |
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| 165 | } |
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| 166 | } |
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| 167 | |||
| 168 | /* |
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| 169 | * Place a char array into a buffer |
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| 170 | */ |
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| 171 | static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) |
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| 172 | { |
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| 173 | mav_array_memcpy(&buf[wire_offset], b, array_length); |
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| 174 | |||
| 175 | } |
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| 176 | |||
| 177 | /* |
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| 178 | * Place a uint8_t array into a buffer |
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| 179 | */ |
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| 180 | static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) |
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| 181 | { |
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| 182 | mav_array_memcpy(&buf[wire_offset], b, array_length); |
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| 183 | |||
| 184 | } |
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| 185 | |||
| 186 | /* |
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| 187 | * Place a int8_t array into a buffer |
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| 188 | */ |
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| 189 | static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) |
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| 190 | { |
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| 191 | mav_array_memcpy(&buf[wire_offset], b, array_length); |
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| 192 | |||
| 193 | } |
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| 194 | |||
| 195 | #if MAVLINK_NEED_BYTE_SWAP |
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| 196 | #define _MAV_PUT_ARRAY(TYPE, V) \ |
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| 197 | static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ |
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| 198 | { \ |
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| 199 | if (b == NULL) { \ |
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| 200 | memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ |
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| 201 | } else { \ |
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| 202 | uint16_t i; \ |
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| 203 | for (i=0; i<array_length; i++) { \ |
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| 204 | _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \ |
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| 205 | } \ |
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| 206 | } \ |
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| 207 | } |
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| 208 | #else |
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| 209 | #define _MAV_PUT_ARRAY(TYPE, V) \ |
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| 210 | static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ |
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| 211 | { \ |
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| 212 | mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \ |
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| 213 | } |
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| 214 | #endif |
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| 215 | |||
| 216 | _MAV_PUT_ARRAY(uint16_t, u16) |
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| 217 | _MAV_PUT_ARRAY(uint32_t, u32) |
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| 218 | _MAV_PUT_ARRAY(uint64_t, u64) |
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| 219 | _MAV_PUT_ARRAY(int16_t, i16) |
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| 220 | _MAV_PUT_ARRAY(int32_t, i32) |
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| 221 | _MAV_PUT_ARRAY(int64_t, i64) |
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| 222 | _MAV_PUT_ARRAY(float, f) |
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| 223 | _MAV_PUT_ARRAY(double, d) |
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| 224 | |||
| 225 | #define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset] |
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| 226 | #define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset] |
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| 227 | #define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset] |
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| 228 | |||
| 229 | #if MAVLINK_NEED_BYTE_SWAP |
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| 230 | #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ |
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| 231 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ |
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| 232 | { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; } |
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| 233 | |||
| 234 | _MAV_MSG_RETURN_TYPE(uint16_t, 2) |
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| 235 | _MAV_MSG_RETURN_TYPE(int16_t, 2) |
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| 236 | _MAV_MSG_RETURN_TYPE(uint32_t, 4) |
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| 237 | _MAV_MSG_RETURN_TYPE(int32_t, 4) |
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| 238 | _MAV_MSG_RETURN_TYPE(uint64_t, 8) |
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| 239 | _MAV_MSG_RETURN_TYPE(int64_t, 8) |
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| 240 | _MAV_MSG_RETURN_TYPE(float, 4) |
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| 241 | _MAV_MSG_RETURN_TYPE(double, 8) |
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| 242 | |||
| 243 | #elif !MAVLINK_ALIGNED_FIELDS |
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| 244 | #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ |
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| 245 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ |
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| 246 | { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; } |
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| 247 | |||
| 248 | _MAV_MSG_RETURN_TYPE(uint16_t, 2) |
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| 249 | _MAV_MSG_RETURN_TYPE(int16_t, 2) |
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| 250 | _MAV_MSG_RETURN_TYPE(uint32_t, 4) |
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| 251 | _MAV_MSG_RETURN_TYPE(int32_t, 4) |
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| 252 | _MAV_MSG_RETURN_TYPE(uint64_t, 8) |
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| 253 | _MAV_MSG_RETURN_TYPE(int64_t, 8) |
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| 254 | _MAV_MSG_RETURN_TYPE(float, 4) |
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| 255 | _MAV_MSG_RETURN_TYPE(double, 8) |
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| 256 | #else // nicely aligned, no swap |
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| 257 | #define _MAV_MSG_RETURN_TYPE(TYPE) \ |
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| 258 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ |
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| 259 | { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);} |
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| 260 | |||
| 261 | _MAV_MSG_RETURN_TYPE(uint16_t) |
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| 262 | _MAV_MSG_RETURN_TYPE(int16_t) |
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| 263 | _MAV_MSG_RETURN_TYPE(uint32_t) |
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| 264 | _MAV_MSG_RETURN_TYPE(int32_t) |
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| 265 | _MAV_MSG_RETURN_TYPE(uint64_t) |
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| 266 | _MAV_MSG_RETURN_TYPE(int64_t) |
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| 267 | _MAV_MSG_RETURN_TYPE(float) |
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| 268 | _MAV_MSG_RETURN_TYPE(double) |
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| 269 | #endif // MAVLINK_NEED_BYTE_SWAP |
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| 270 | |||
| 271 | static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, |
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| 272 | uint8_t array_length, uint8_t wire_offset) |
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| 273 | { |
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| 274 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); |
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| 275 | return array_length; |
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| 276 | } |
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| 277 | |||
| 278 | static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, |
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| 279 | uint8_t array_length, uint8_t wire_offset) |
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| 280 | { |
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| 281 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); |
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| 282 | return array_length; |
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| 283 | } |
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| 284 | |||
| 285 | static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, |
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| 286 | uint8_t array_length, uint8_t wire_offset) |
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| 287 | { |
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| 288 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); |
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| 289 | return array_length; |
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| 290 | } |
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| 291 | |||
| 292 | #if MAVLINK_NEED_BYTE_SWAP |
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| 293 | #define _MAV_RETURN_ARRAY(TYPE, V) \ |
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| 294 | static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \ |
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| 295 | uint8_t array_length, uint8_t wire_offset) \ |
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| 296 | { \ |
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| 297 | uint16_t i; \ |
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| 298 | for (i=0; i<array_length; i++) { \ |
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| 299 | value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \ |
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| 300 | } \ |
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| 301 | return array_length*sizeof(value[0]); \ |
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| 302 | } |
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| 303 | #else |
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| 304 | #define _MAV_RETURN_ARRAY(TYPE, V) \ |
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| 305 | static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \ |
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| 306 | uint8_t array_length, uint8_t wire_offset) \ |
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| 307 | { \ |
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| 308 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \ |
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| 309 | return array_length*sizeof(TYPE); \ |
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| 310 | } |
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| 311 | #endif |
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| 312 | |||
| 313 | _MAV_RETURN_ARRAY(uint16_t, u16) |
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| 314 | _MAV_RETURN_ARRAY(uint32_t, u32) |
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| 315 | _MAV_RETURN_ARRAY(uint64_t, u64) |
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| 316 | _MAV_RETURN_ARRAY(int16_t, i16) |
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| 317 | _MAV_RETURN_ARRAY(int32_t, i32) |
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| 318 | _MAV_RETURN_ARRAY(int64_t, i64) |
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| 319 | _MAV_RETURN_ARRAY(float, f) |
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| 320 | _MAV_RETURN_ARRAY(double, d) |
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| 321 | |||
| 322 | #endif // _MAVLINK_PROTOCOL_H_ |