mirror of
https://bitbucket.org/librepilot/librepilot.git
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322 lines
12 KiB
C
322 lines
12 KiB
C
#ifndef _MAVLINK_PROTOCOL_H_
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#define _MAVLINK_PROTOCOL_H_
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#include "string.h"
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#include "mavlink_types.h"
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/*
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If you want MAVLink on a system that is native big-endian,
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you need to define NATIVE_BIG_ENDIAN
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*/
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#ifdef NATIVE_BIG_ENDIAN
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# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
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#else
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# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
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#endif
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#ifndef MAVLINK_STACK_BUFFER
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#define MAVLINK_STACK_BUFFER 0
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#endif
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#ifndef MAVLINK_AVOID_GCC_STACK_BUG
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# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
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#endif
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#ifndef MAVLINK_ASSERT
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#define MAVLINK_ASSERT(x)
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#endif
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#ifndef MAVLINK_START_UART_SEND
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#define MAVLINK_START_UART_SEND(chan, length)
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#endif
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#ifndef MAVLINK_END_UART_SEND
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#define MAVLINK_END_UART_SEND(chan, length)
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#endif
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#ifdef MAVLINK_SEPARATE_HELPERS
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#define MAVLINK_HELPER
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#else
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#define MAVLINK_HELPER static inline
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#include "mavlink_helpers.h"
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#endif // MAVLINK_SEPARATE_HELPERS
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/* always include the prototypes to ensure we don't get out of sync */
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MAVLINK_HELPER mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
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#if MAVLINK_CRC_EXTRA
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MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id,
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uint8_t chan, uint8_t length, uint8_t crc_extra);
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MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id,
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uint8_t length, uint8_t crc_extra);
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
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uint8_t length, uint8_t crc_extra);
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#endif
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#else
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MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id,
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uint8_t chan, uint8_t length);
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MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t *msg, uint8_t system_id, uint8_t component_id,
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uint8_t length);
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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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#endif // MAVLINK_CRC_EXTRA
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MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
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MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t *msg);
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MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t *msg, uint8_t c);
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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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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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uint8_t *r_bit_index, uint8_t *buffer);
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
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MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
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#endif
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/**
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* @brief Get the required buffer size for this message
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*/
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static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t *msg)
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{
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return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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#if MAVLINK_NEED_BYTE_SWAP
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static inline void byte_swap_2(char *dst, const char *src)
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{
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dst[0] = src[1];
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dst[1] = src[0];
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}
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static inline void byte_swap_4(char *dst, const char *src)
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{
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dst[0] = src[3];
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dst[1] = src[2];
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dst[2] = src[1];
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dst[3] = src[0];
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}
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static inline void byte_swap_8(char *dst, const char *src)
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{
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dst[0] = src[7];
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dst[1] = src[6];
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dst[2] = src[5];
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dst[3] = src[4];
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dst[4] = src[3];
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dst[5] = src[2];
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dst[6] = src[1];
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dst[7] = src[0];
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}
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#elif !MAVLINK_ALIGNED_FIELDS
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static inline void byte_copy_2(char *dst, const char *src)
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{
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dst[0] = src[0];
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dst[1] = src[1];
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}
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static inline void byte_copy_4(char *dst, const char *src)
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{
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dst[0] = src[0];
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dst[1] = src[1];
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dst[2] = src[2];
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dst[3] = src[3];
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}
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static inline void byte_copy_8(char *dst, const char *src)
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{
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memcpy(dst, src, 8);
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}
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#endif // if MAVLINK_NEED_BYTE_SWAP
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#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
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#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
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#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
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#if MAVLINK_NEED_BYTE_SWAP
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#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
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#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
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#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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#elif !MAVLINK_ALIGNED_FIELDS
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#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
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#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
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#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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#else
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#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
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#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
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#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
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#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
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#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
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#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
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#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
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#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
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#endif // if MAVLINK_NEED_BYTE_SWAP
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/*
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like memcpy(), but if src is NULL, do a memset to zero
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*/
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static void mav_array_memcpy(void *dest, const void *src, size_t n)
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{
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if (src == NULL) {
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memset(dest, 0, n);
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} else {
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memcpy(dest, src, n);
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}
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}
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/*
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* Place a char array into a buffer
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*/
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static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
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{
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mav_array_memcpy(&buf[wire_offset], b, array_length);
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}
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/*
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* Place a uint8_t array into a buffer
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*/
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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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{
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mav_array_memcpy(&buf[wire_offset], b, array_length);
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}
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/*
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* Place a int8_t array into a buffer
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*/
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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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{
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mav_array_memcpy(&buf[wire_offset], b, array_length);
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}
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#if MAVLINK_NEED_BYTE_SWAP
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#define _MAV_PUT_ARRAY(TYPE, V) \
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static inline void _mav_put_##TYPE##_array(char *buf, uint8_t wire_offset, const TYPE * b, uint8_t array_length) \
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{ \
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if (b == NULL) { \
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memset(&buf[wire_offset], 0, array_length * sizeof(TYPE)); \
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} \
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else { \
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uint16_t i; \
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for (i = 0; i < array_length; i++) { \
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_mav_put_##TYPE(buf, wire_offset + (i * sizeof(TYPE)), b[i]); \
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} \
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} \
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}
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#else
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#define _MAV_PUT_ARRAY(TYPE, V) \
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static inline void _mav_put_##TYPE##_array(char *buf, uint8_t wire_offset, const TYPE * b, uint8_t array_length) \
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{ \
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mav_array_memcpy(&buf[wire_offset], b, array_length * sizeof(TYPE)); \
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}
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#endif
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_MAV_PUT_ARRAY(uint16_t, u16)
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_MAV_PUT_ARRAY(uint32_t, u32)
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_MAV_PUT_ARRAY(uint64_t, u64)
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_MAV_PUT_ARRAY(int16_t, i16)
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_MAV_PUT_ARRAY(int32_t, i32)
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_MAV_PUT_ARRAY(int64_t, i64)
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_MAV_PUT_ARRAY(float, f)
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_MAV_PUT_ARRAY(double, d)
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#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
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#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
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#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
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#if MAVLINK_NEED_BYTE_SWAP
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#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
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static inline TYPE _MAV_RETURN_##TYPE(const mavlink_message_t * msg, uint8_t ofs) \
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{ TYPE r; byte_swap_##SIZE((char *)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
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_MAV_MSG_RETURN_TYPE(uint16_t, 2)
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_MAV_MSG_RETURN_TYPE(int16_t, 2)
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_MAV_MSG_RETURN_TYPE(uint32_t, 4)
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_MAV_MSG_RETURN_TYPE(int32_t, 4)
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_MAV_MSG_RETURN_TYPE(uint64_t, 8)
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_MAV_MSG_RETURN_TYPE(int64_t, 8)
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_MAV_MSG_RETURN_TYPE(float, 4)
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_MAV_MSG_RETURN_TYPE(double, 8)
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#elif !MAVLINK_ALIGNED_FIELDS
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#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
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static inline TYPE _MAV_RETURN_##TYPE(const mavlink_message_t * msg, uint8_t ofs) \
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{ TYPE r; byte_copy_##SIZE((char *)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
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_MAV_MSG_RETURN_TYPE(uint16_t, 2)
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_MAV_MSG_RETURN_TYPE(int16_t, 2)
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_MAV_MSG_RETURN_TYPE(uint32_t, 4)
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_MAV_MSG_RETURN_TYPE(int32_t, 4)
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_MAV_MSG_RETURN_TYPE(uint64_t, 8)
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_MAV_MSG_RETURN_TYPE(int64_t, 8)
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_MAV_MSG_RETURN_TYPE(float, 4)
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_MAV_MSG_RETURN_TYPE(double, 8)
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#else // nicely aligned, no swap
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#define _MAV_MSG_RETURN_TYPE(TYPE) \
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static inline TYPE _MAV_RETURN_##TYPE(const mavlink_message_t * msg, uint8_t ofs) \
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{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]); }
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_MAV_MSG_RETURN_TYPE(uint16_t)
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_MAV_MSG_RETURN_TYPE(int16_t)
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_MAV_MSG_RETURN_TYPE(uint32_t)
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_MAV_MSG_RETURN_TYPE(int32_t)
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_MAV_MSG_RETURN_TYPE(uint64_t)
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_MAV_MSG_RETURN_TYPE(int64_t)
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_MAV_MSG_RETURN_TYPE(float)
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_MAV_MSG_RETURN_TYPE(double)
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#endif // MAVLINK_NEED_BYTE_SWAP
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static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
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uint8_t array_length, uint8_t wire_offset)
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{
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memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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return array_length;
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}
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static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
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uint8_t array_length, uint8_t wire_offset)
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{
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memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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return array_length;
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}
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static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
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uint8_t array_length, uint8_t wire_offset)
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{
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memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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return array_length;
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}
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#if MAVLINK_NEED_BYTE_SWAP
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#define _MAV_RETURN_ARRAY(TYPE, V) \
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static inline uint16_t _MAV_RETURN_##TYPE##_array(const mavlink_message_t * msg, TYPE * value, \
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uint8_t array_length, uint8_t wire_offset) \
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{ \
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uint16_t i; \
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for (i = 0; i < array_length; i++) { \
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value[i] = _MAV_RETURN_##TYPE(msg, wire_offset + (i * sizeof(value[0]))); \
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} \
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return array_length * sizeof(value[0]); \
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}
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#else
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#define _MAV_RETURN_ARRAY(TYPE, V) \
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static inline uint16_t _MAV_RETURN_##TYPE##_array(const mavlink_message_t * msg, TYPE * value, \
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uint8_t array_length, uint8_t wire_offset) \
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{ \
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memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length * sizeof(TYPE)); \
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return array_length * sizeof(TYPE); \
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}
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#endif
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_MAV_RETURN_ARRAY(uint16_t, u16)
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_MAV_RETURN_ARRAY(uint32_t, u32)
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_MAV_RETURN_ARRAY(uint64_t, u64)
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_MAV_RETURN_ARRAY(int16_t, i16)
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_MAV_RETURN_ARRAY(int32_t, i32)
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_MAV_RETURN_ARRAY(int64_t, i64)
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_MAV_RETURN_ARRAY(float, f)
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_MAV_RETURN_ARRAY(double, d)
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#endif // _MAVLINK_PROTOCOL_H_
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