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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_ |