source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/mavlink_types.h @ 77

Last change on this file since 77 was 75, checked in by Thomas Fuhrmann, 5 years ago

Change the version of mavlink generated messages and rename it to include

File size: 8.3 KB
Line 
1#ifndef MAVLINK_TYPES_H_
2#define MAVLINK_TYPES_H_
3
4// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
5#if (defined _MSC_VER) && (_MSC_VER < 1600)
6#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
7#endif
8
9#include <stdint.h>
10
11// Macro to define packed structures
12#ifdef __GNUC__
13  #define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
14#else
15  #define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
16#endif
17
18#ifndef MAVLINK_MAX_PAYLOAD_LEN
19// it is possible to override this, but be careful!
20#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
21#endif
22
23#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
24#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
25#define MAVLINK_NUM_CHECKSUM_BYTES 2
26#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
27
28#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
29
30#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
31#define MAVLINK_EXTENDED_HEADER_LEN 14
32
33#if (defined _MSC_VER) || ((defined __APPLE__) && (defined __MACH__)) || (defined __linux__)
34  /* full fledged 32bit++ OS */
35  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
36#else
37  /* small microcontrollers */
38  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
39#endif
40
41#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
42
43
44/**
45 * Old-style 4 byte param union
46 *
47 * This struct is the data format to be used when sending
48 * parameters. The parameter should be copied to the native
49 * type (without type conversion)
50 * and re-instanted on the receiving side using the
51 * native type as well.
52 */
53MAVPACKED(
54typedef struct param_union {
55        union {
56                float param_float;
57                int32_t param_int32;
58                uint32_t param_uint32;
59                int16_t param_int16;
60                uint16_t param_uint16;
61                int8_t param_int8;
62                uint8_t param_uint8;
63                uint8_t bytes[4];
64        };
65        uint8_t type;
66}) mavlink_param_union_t;
67
68
69/**
70 * New-style 8 byte param union
71 * mavlink_param_union_double_t will be 8 bytes long, and treated as needing 8 byte alignment for the purposes of MAVLink 1.0 field ordering.
72 * The mavlink_param_union_double_t will be treated as a little-endian structure.
73 *
74 * If is_double is 1 then the type is a double, and the remaining 63 bits are the double, with the lowest bit of the mantissa zero.
75 * The intention is that by replacing the is_double bit with 0 the type can be directly used as a double (as the is_double bit corresponds to the
76 * lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union.
77 * The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above,
78 * as bitfield ordering isn’t consistent between platforms. The above is intended to be for gcc on x86,
79 * which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number,
80 * and the bits pulled out using the shifts/masks.
81*/
82MAVPACKED(
83typedef struct param_union_extended {
84    union {
85    struct {
86        uint8_t is_double:1;
87        uint8_t mavlink_type:7;
88        union {
89            char c;
90            uint8_t uint8;
91            int8_t int8;
92            uint16_t uint16;
93            int16_t int16;
94            uint32_t uint32;
95            int32_t int32;
96            float f;
97            uint8_t align[7];
98        };
99    };
100    uint8_t data[8];
101    };
102}) mavlink_param_union_double_t;
103
104/**
105 * This structure is required to make the mavlink_send_xxx convenience functions
106 * work, as it tells the library what the current system and component ID are.
107 */
108MAVPACKED(
109typedef struct __mavlink_system {
110    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
111    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
112}) mavlink_system_t;
113
114MAVPACKED(
115typedef struct __mavlink_message {
116        uint16_t checksum; ///< sent at end of packet
117        uint8_t magic;   ///< protocol magic marker
118        uint8_t len;     ///< Length of payload
119        uint8_t seq;     ///< Sequence of packet
120        uint8_t sysid;   ///< ID of message sender system/aircraft
121        uint8_t compid;  ///< ID of the message sender component
122        uint8_t msgid;   ///< ID of message in payload
123        uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
124}) mavlink_message_t;
125
126MAVPACKED(
127typedef struct __mavlink_extended_message {
128       mavlink_message_t base_msg;
129       int32_t extended_payload_len;   ///< Length of extended payload if any
130       uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
131}) mavlink_extended_message_t;
132
133typedef enum {
134        MAVLINK_TYPE_CHAR     = 0,
135        MAVLINK_TYPE_UINT8_T  = 1,
136        MAVLINK_TYPE_INT8_T   = 2,
137        MAVLINK_TYPE_UINT16_T = 3,
138        MAVLINK_TYPE_INT16_T  = 4,
139        MAVLINK_TYPE_UINT32_T = 5,
140        MAVLINK_TYPE_INT32_T  = 6,
141        MAVLINK_TYPE_UINT64_T = 7,
142        MAVLINK_TYPE_INT64_T  = 8,
143        MAVLINK_TYPE_FLOAT    = 9,
144        MAVLINK_TYPE_DOUBLE   = 10
145} mavlink_message_type_t;
146
147#define MAVLINK_MAX_FIELDS 64
148
149typedef struct __mavlink_field_info {
150        const char *name;                 // name of this field
151        const char *print_format;         // printing format hint, or NULL
152        mavlink_message_type_t type;      // type of this field
153        unsigned int array_length;        // if non-zero, field is an array
154        unsigned int wire_offset;         // offset of each field in the payload
155        unsigned int structure_offset;    // offset in a C structure
156} mavlink_field_info_t;
157
158// note that in this structure the order of fields is the order
159// in the XML file, not necessary the wire order
160typedef struct __mavlink_message_info {
161        const char *name;                                      // name of the message
162        unsigned num_fields;                                   // how many fields in this message
163        mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
164} mavlink_message_info_t;
165
166#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
167#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
168
169// checksum is immediately after the payload bytes
170#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
171#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
172
173typedef enum {
174    MAVLINK_COMM_0,
175    MAVLINK_COMM_1,
176    MAVLINK_COMM_2,
177    MAVLINK_COMM_3
178} mavlink_channel_t;
179
180/*
181 * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
182 * of buffers they will use. If more are used, then the result will be
183 * a stack overrun
184 */
185#ifndef MAVLINK_COMM_NUM_BUFFERS
186#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
187# define MAVLINK_COMM_NUM_BUFFERS 16
188#else
189# define MAVLINK_COMM_NUM_BUFFERS 4
190#endif
191#endif
192
193typedef enum {
194    MAVLINK_PARSE_STATE_UNINIT=0,
195    MAVLINK_PARSE_STATE_IDLE,
196    MAVLINK_PARSE_STATE_GOT_STX,
197    MAVLINK_PARSE_STATE_GOT_SEQ,
198    MAVLINK_PARSE_STATE_GOT_LENGTH,
199    MAVLINK_PARSE_STATE_GOT_SYSID,
200    MAVLINK_PARSE_STATE_GOT_COMPID,
201    MAVLINK_PARSE_STATE_GOT_MSGID,
202    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
203    MAVLINK_PARSE_STATE_GOT_CRC1,
204    MAVLINK_PARSE_STATE_GOT_BAD_CRC1
205} mavlink_parse_state_t; ///< The state machine for the comm parser
206
207typedef enum {
208    MAVLINK_FRAMING_INCOMPLETE=0,
209    MAVLINK_FRAMING_OK=1,
210    MAVLINK_FRAMING_BAD_CRC=2
211} mavlink_framing_t;
212
213typedef struct __mavlink_status {
214    uint8_t msg_received;               ///< Number of received messages
215    uint8_t buffer_overrun;             ///< Number of buffer overruns
216    uint8_t parse_error;                ///< Number of parse errors
217    mavlink_parse_state_t parse_state;  ///< Parsing state machine
218    uint8_t packet_idx;                 ///< Index in current packet
219    uint8_t current_rx_seq;             ///< Sequence number of last packet received
220    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
221    uint16_t packet_rx_success_count;   ///< Received packets
222    uint16_t packet_rx_drop_count;      ///< Number of packet drops
223} mavlink_status_t;
224
225#define MAVLINK_BIG_ENDIAN 0
226#define MAVLINK_LITTLE_ENDIAN 1
227
228#endif /* MAVLINK_TYPES_H_ */
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