source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/mavlink_generated_messages/mavlink_types.h @ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 5 years ago

Add the mavlink branch
File size: 10.5 KB
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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 9 ///< Length of core header (of the comm. layer)
24#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 ///< Length of MAVLink1 core header (of the comm. layer)
25#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and stx
26#define MAVLINK_NUM_CHECKSUM_BYTES 2
27#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
28
29#define MAVLINK_SIGNATURE_BLOCK_LEN 13
30
31#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) ///< Maximum packet length
32
33/**
34 * Old-style 4 byte param union
35 *
36 * This struct is the data format to be used when sending
37 * parameters. The parameter should be copied to the native
38 * type (without type conversion)
39 * and re-instanted on the receiving side using the
40 * native type as well.
41 */
42MAVPACKED(
43typedef struct param_union {
44        union {
45                float param_float;
46                int32_t param_int32;
47                uint32_t param_uint32;
48                int16_t param_int16;
49                uint16_t param_uint16;
50                int8_t param_int8;
51                uint8_t param_uint8;
52                uint8_t bytes[4];
53        };
54        uint8_t type;
55}) mavlink_param_union_t;
56
57
58/**
59 * New-style 8 byte param union
60 * 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.
61 * The mavlink_param_union_double_t will be treated as a little-endian structure.
62 *
63 * 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.
64 * 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
65 * lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union.
66 * The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above,
67 * as bitfield ordering isn’t consistent between platforms. The above is intended to be for gcc on x86,
68 * 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,
69 * and the bits pulled out using the shifts/masks.
70*/
71MAVPACKED(
72typedef struct param_union_extended {
73    union {
74    struct {
75        uint8_t is_double:1;
76        uint8_t mavlink_type:7;
77        union {
78            char c;
79            uint8_t uint8;
80            int8_t int8;
81            uint16_t uint16;
82            int16_t int16;
83            uint32_t uint32;
84            int32_t int32;
85            float f;
86            uint8_t align[7];
87        };
88    };
89    uint8_t data[8];
90    };
91}) mavlink_param_union_double_t;
92
93/**
94 * This structure is required to make the mavlink_send_xxx convenience functions
95 * work, as it tells the library what the current system and component ID are.
96 */
97MAVPACKED(
98typedef struct __mavlink_system {
99    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
100    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
101}) mavlink_system_t;
102
103MAVPACKED(
104typedef struct __mavlink_message {
105        uint16_t checksum;      ///< sent at end of packet
106        uint8_t magic;          ///< protocol magic marker
107        uint8_t len;            ///< Length of payload
108        uint8_t incompat_flags; ///< flags that must be understood
109        uint8_t compat_flags;   ///< flags that can be ignored if not understood
110        uint8_t seq;            ///< Sequence of packet
111        uint8_t sysid;          ///< ID of message sender system/aircraft
112        uint8_t compid;         ///< ID of the message sender component
113        uint32_t msgid:24;      ///< ID of message in payload
114        uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
115        uint8_t ck[2];          ///< incoming checksum bytes
116        uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];
117}) mavlink_message_t;
118
119typedef enum {
120        MAVLINK_TYPE_CHAR     = 0,
121        MAVLINK_TYPE_UINT8_T  = 1,
122        MAVLINK_TYPE_INT8_T   = 2,
123        MAVLINK_TYPE_UINT16_T = 3,
124        MAVLINK_TYPE_INT16_T  = 4,
125        MAVLINK_TYPE_UINT32_T = 5,
126        MAVLINK_TYPE_INT32_T  = 6,
127        MAVLINK_TYPE_UINT64_T = 7,
128        MAVLINK_TYPE_INT64_T  = 8,
129        MAVLINK_TYPE_FLOAT    = 9,
130        MAVLINK_TYPE_DOUBLE   = 10
131} mavlink_message_type_t;
132
133#define MAVLINK_MAX_FIELDS 64
134
135typedef struct __mavlink_field_info {
136        const char *name;                 // name of this field
137        const char *print_format;         // printing format hint, or NULL
138        mavlink_message_type_t type;      // type of this field
139        unsigned int array_length;        // if non-zero, field is an array
140        unsigned int wire_offset;         // offset of each field in the payload
141        unsigned int structure_offset;    // offset in a C structure
142} mavlink_field_info_t;
143
144// note that in this structure the order of fields is the order
145// in the XML file, not necessary the wire order
146typedef struct __mavlink_message_info {
147        uint32_t msgid;                                        // message ID
148        const char *name;                                      // name of the message
149        unsigned num_fields;                                   // how many fields in this message
150        mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
151} mavlink_message_info_t;
152
153#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
154#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
155
156// checksum is immediately after the payload bytes
157#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
158#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
159
160typedef enum {
161    MAVLINK_COMM_0,
162    MAVLINK_COMM_1,
163    MAVLINK_COMM_2,
164    MAVLINK_COMM_3
165} mavlink_channel_t;
166
167/*
168 * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
169 * of buffers they will use. If more are used, then the result will be
170 * a stack overrun
171 */
172#ifndef MAVLINK_COMM_NUM_BUFFERS
173#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
174# define MAVLINK_COMM_NUM_BUFFERS 16
175#else
176# define MAVLINK_COMM_NUM_BUFFERS 4
177#endif
178#endif
179
180typedef enum {
181    MAVLINK_PARSE_STATE_UNINIT=0,
182    MAVLINK_PARSE_STATE_IDLE,
183    MAVLINK_PARSE_STATE_GOT_STX,
184    MAVLINK_PARSE_STATE_GOT_LENGTH,
185    MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS,
186    MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS,
187    MAVLINK_PARSE_STATE_GOT_SEQ,
188    MAVLINK_PARSE_STATE_GOT_SYSID,
189    MAVLINK_PARSE_STATE_GOT_COMPID,
190    MAVLINK_PARSE_STATE_GOT_MSGID1,
191    MAVLINK_PARSE_STATE_GOT_MSGID2,
192    MAVLINK_PARSE_STATE_GOT_MSGID3,
193    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
194    MAVLINK_PARSE_STATE_GOT_CRC1,
195    MAVLINK_PARSE_STATE_GOT_BAD_CRC1,
196    MAVLINK_PARSE_STATE_SIGNATURE_WAIT
197} mavlink_parse_state_t; ///< The state machine for the comm parser
198
199typedef enum {
200    MAVLINK_FRAMING_INCOMPLETE=0,
201    MAVLINK_FRAMING_OK=1,
202    MAVLINK_FRAMING_BAD_CRC=2,
203    MAVLINK_FRAMING_BAD_SIGNATURE=3
204} mavlink_framing_t;
205
206#define MAVLINK_STATUS_FLAG_IN_MAVLINK1  1 // last incoming packet was MAVLink1
207#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default
208#define MAVLINK_STATUS_FLAG_IN_SIGNED    4 // last incoming packet was signed and validated
209#define MAVLINK_STATUS_FLAG_IN_BADSIG    8 // last incoming packet had a bad signature
210
211#define MAVLINK_STX_MAVLINK1 0xFE          // marker for old protocol
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    uint8_t flags;                      ///< MAVLINK_STATUS_FLAG_*
224    uint8_t signature_wait;             ///< number of signature bytes left to receive
225    struct __mavlink_signing *signing;  ///< optional signing state
226    struct __mavlink_signing_streams *signing_streams; ///< global record of stream timestamps
227} mavlink_status_t;
228
229/*
230  a callback function to allow for accepting unsigned packets
231 */
232typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32_t msgid);
233
234/*
235  flags controlling signing
236 */
237#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1
238
239/*
240  state of MAVLink signing for this channel
241 */
242typedef struct __mavlink_signing {
243    uint8_t flags;                     ///< MAVLINK_SIGNING_FLAG_*
244    uint8_t link_id;
245    uint64_t timestamp;
246    uint8_t secret_key[32];
247    mavlink_accept_unsigned_t accept_unsigned_callback;
248} mavlink_signing_t;
249
250/*
251  timestamp state of each logical signing stream. This needs to be the same structure for all
252  connections in order to be secure
253 */
254#ifndef MAVLINK_MAX_SIGNING_STREAMS
255#define MAVLINK_MAX_SIGNING_STREAMS 16
256#endif
257typedef struct __mavlink_signing_streams {
258    uint16_t num_signing_streams;
259    struct __mavlink_signing_stream {
260        uint8_t link_id;
261        uint8_t sysid;
262        uint8_t compid;
263        uint8_t timestamp_bytes[6];
264    } stream[MAVLINK_MAX_SIGNING_STREAMS];
265} mavlink_signing_streams_t;
266
267
268#define MAVLINK_BIG_ENDIAN 0
269#define MAVLINK_LITTLE_ENDIAN 1
270
271#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM    1
272#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT 2
273
274/*
275  entry in table of information about each message type
276 */
277typedef struct __mavlink_msg_entry {
278        uint32_t msgid;
279        uint8_t crc_extra;
280        uint8_t msg_len;
281        uint8_t flags;             // MAV_MSG_ENTRY_FLAG_*
282        uint8_t target_system_ofs; // payload offset to target_system, or 0
283        uint8_t target_component_ofs; // payload offset to target_component, or 0
284} mavlink_msg_entry_t;
285
286/*
287  incompat_flags bits
288 */
289#define MAVLINK_IFLAG_SIGNED  0x01
290#define MAVLINK_IFLAG_MASK    0x01 // mask of all understood bits
291
292#endif /* MAVLINK_TYPES_H_ */
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