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

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 8 years ago

Add the mavlink branch
File size: 12.1 KB
Line 
1#ifndef _MAVLINK_PROTOCOL_H_
2#define _MAVLINK_PROTOCOL_H_
3
4#include "string.h"
5#include "mavlink_types.h"
6
7/*
8 If you want MAVLink on a system that is native big-endian,
9 you need to define NATIVE_BIG_ENDIAN
10*/
11#ifdef NATIVE_BIG_ENDIAN
12# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
13#else
14# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
15#endif
16
17#ifndef MAVLINK_STACK_BUFFER
18#define MAVLINK_STACK_BUFFER 0
19#endif
20
21#ifndef MAVLINK_AVOID_GCC_STACK_BUG
22# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
23#endif
24
25#ifndef MAVLINK_ASSERT
26#define MAVLINK_ASSERT(x)
27#endif
28
29#ifndef MAVLINK_START_UART_SEND
30#define MAVLINK_START_UART_SEND(chan, length)
31#endif
32
33#ifndef MAVLINK_END_UART_SEND
34#define MAVLINK_END_UART_SEND(chan, length)
35#endif
36
37/* option to provide alternative implementation of mavlink_helpers.h */
38#ifdef MAVLINK_SEPARATE_HELPERS
39
40 #define MAVLINK_HELPER
41
42 /* decls in sync with those in mavlink_helpers.h */
43 #ifndef MAVLINK_GET_CHANNEL_STATUS
44 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
45 #endif
46 MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
47 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
48 uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);
49 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
50 uint8_t min_length, uint8_t length, uint8_t crc_extra);
51 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
52 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, const char *packet,
53 uint8_t min_length, uint8_t length, uint8_t crc_extra);
54 #endif
55 MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
56 MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
57 MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
58 MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
59 mavlink_status_t* status,
60 uint8_t c,
61 mavlink_message_t* r_message,
62 mavlink_status_t* r_mavlink_status);
63 MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
64 MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
65 MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
66 uint8_t* r_bit_index, uint8_t* buffer);
67 MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid);
68 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
69 MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
70 MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
71 #endif
72
73#else
74
75 #define MAVLINK_HELPER static inline
76 #include "mavlink_helpers.h"
77
78#endif // MAVLINK_SEPARATE_HELPERS
79
80
81/**
82 * @brief Get the required buffer size for this message
83 */
84static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
85{
86 if (msg->magic == MAVLINK_STX_MAVLINK1) {
87 return msg->len + MAVLINK_CORE_HEADER_MAVLINK1_LEN+1 + 2;
88 }
89 uint16_t signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;
90 return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES + signature_len;
91}
92
93#if MAVLINK_NEED_BYTE_SWAP
94static inline void byte_swap_2(char *dst, const char *src)
95{
96 dst[0] = src[1];
97 dst[1] = src[0];
98}
99static inline void byte_swap_4(char *dst, const char *src)
100{
101 dst[0] = src[3];
102 dst[1] = src[2];
103 dst[2] = src[1];
104 dst[3] = src[0];
105}
106static inline void byte_swap_8(char *dst, const char *src)
107{
108 dst[0] = src[7];
109 dst[1] = src[6];
110 dst[2] = src[5];
111 dst[3] = src[4];
112 dst[4] = src[3];
113 dst[5] = src[2];
114 dst[6] = src[1];
115 dst[7] = src[0];
116}
117#elif !MAVLINK_ALIGNED_FIELDS
118static inline void byte_copy_2(char *dst, const char *src)
119{
120 dst[0] = src[0];
121 dst[1] = src[1];
122}
123static inline void byte_copy_4(char *dst, const char *src)
124{
125 dst[0] = src[0];
126 dst[1] = src[1];
127 dst[2] = src[2];
128 dst[3] = src[3];
129}
130static inline void byte_copy_8(char *dst, const char *src)
131{
132 memcpy(dst, src, 8);
133}
134#endif
135
136#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
137#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
138#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
139
140#if MAVLINK_NEED_BYTE_SWAP
141#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
142#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
143#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
144#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
145#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
146#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
147#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
148#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
149#elif !MAVLINK_ALIGNED_FIELDS
150#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
151#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
152#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
153#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
154#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
155#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
156#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
157#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
158#else
159#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
160#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
161#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
162#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
163#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
164#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
165#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
166#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
167#endif
168
169/*
170 like memcpy(), but if src is NULL, do a memset to zero
171*/
172static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
173{
174 if (src == NULL) {
175 memset(dest, 0, n);
176 } else {
177 memcpy(dest, src, n);
178 }
179}
180
181/*
182 * Place a char array into a buffer
183 */
184static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
185{
186 mav_array_memcpy(&buf[wire_offset], b, array_length);
187
188}
189
190/*
191 * Place a uint8_t array into a buffer
192 */
193static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
194{
195 mav_array_memcpy(&buf[wire_offset], b, array_length);
196
197}
198
199/*
200 * Place a int8_t array into a buffer
201 */
202static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
203{
204 mav_array_memcpy(&buf[wire_offset], b, array_length);
205
206}
207
208#if MAVLINK_NEED_BYTE_SWAP
209#define _MAV_PUT_ARRAY(TYPE, V) \
210static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
211{ \
212 if (b == NULL) { \
213 memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
214 } else { \
215 uint16_t i; \
216 for (i=0; i<array_length; i++) { \
217 _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
218 } \
219 } \
220}
221#else
222#define _MAV_PUT_ARRAY(TYPE, V) \
223static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
224{ \
225 mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
226}
227#endif
228
229_MAV_PUT_ARRAY(uint16_t, u16)
230_MAV_PUT_ARRAY(uint32_t, u32)
231_MAV_PUT_ARRAY(uint64_t, u64)
232_MAV_PUT_ARRAY(int16_t, i16)
233_MAV_PUT_ARRAY(int32_t, i32)
234_MAV_PUT_ARRAY(int64_t, i64)
235_MAV_PUT_ARRAY(float, f)
236_MAV_PUT_ARRAY(double, d)
237
238#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
239#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
240#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
241
242#if MAVLINK_NEED_BYTE_SWAP
243#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
244static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
245{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
246
247_MAV_MSG_RETURN_TYPE(uint16_t, 2)
248_MAV_MSG_RETURN_TYPE(int16_t, 2)
249_MAV_MSG_RETURN_TYPE(uint32_t, 4)
250_MAV_MSG_RETURN_TYPE(int32_t, 4)
251_MAV_MSG_RETURN_TYPE(uint64_t, 8)
252_MAV_MSG_RETURN_TYPE(int64_t, 8)
253_MAV_MSG_RETURN_TYPE(float, 4)
254_MAV_MSG_RETURN_TYPE(double, 8)
255
256#elif !MAVLINK_ALIGNED_FIELDS
257#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
258static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
259{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
260
261_MAV_MSG_RETURN_TYPE(uint16_t, 2)
262_MAV_MSG_RETURN_TYPE(int16_t, 2)
263_MAV_MSG_RETURN_TYPE(uint32_t, 4)
264_MAV_MSG_RETURN_TYPE(int32_t, 4)
265_MAV_MSG_RETURN_TYPE(uint64_t, 8)
266_MAV_MSG_RETURN_TYPE(int64_t, 8)
267_MAV_MSG_RETURN_TYPE(float, 4)
268_MAV_MSG_RETURN_TYPE(double, 8)
269#else // nicely aligned, no swap
270#define _MAV_MSG_RETURN_TYPE(TYPE) \
271static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
272{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
273
274_MAV_MSG_RETURN_TYPE(uint16_t)
275_MAV_MSG_RETURN_TYPE(int16_t)
276_MAV_MSG_RETURN_TYPE(uint32_t)
277_MAV_MSG_RETURN_TYPE(int32_t)
278_MAV_MSG_RETURN_TYPE(uint64_t)
279_MAV_MSG_RETURN_TYPE(int64_t)
280_MAV_MSG_RETURN_TYPE(float)
281_MAV_MSG_RETURN_TYPE(double)
282#endif // MAVLINK_NEED_BYTE_SWAP
283
284static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
285 uint8_t array_length, uint8_t wire_offset)
286{
287 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
288 return array_length;
289}
290
291static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
292 uint8_t array_length, uint8_t wire_offset)
293{
294 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
295 return array_length;
296}
297
298static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
299 uint8_t array_length, uint8_t wire_offset)
300{
301 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
302 return array_length;
303}
304
305#if MAVLINK_NEED_BYTE_SWAP
306#define _MAV_RETURN_ARRAY(TYPE, V) \
307static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
308 uint8_t array_length, uint8_t wire_offset) \
309{ \
310 uint16_t i; \
311 for (i=0; i<array_length; i++) { \
312 value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
313 } \
314 return array_length*sizeof(value[0]); \
315}
316#else
317#define _MAV_RETURN_ARRAY(TYPE, V) \
318static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
319 uint8_t array_length, uint8_t wire_offset) \
320{ \
321 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
322 return array_length*sizeof(TYPE); \
323}
324#endif
325
326_MAV_RETURN_ARRAY(uint16_t, u16)
327_MAV_RETURN_ARRAY(uint32_t, u32)
328_MAV_RETURN_ARRAY(uint64_t, u64)
329_MAV_RETURN_ARRAY(int16_t, i16)
330_MAV_RETURN_ARRAY(int32_t, i32)
331_MAV_RETURN_ARRAY(int64_t, i64)
332_MAV_RETURN_ARRAY(float, f)
333_MAV_RETURN_ARRAY(double, d)
334
335#endif // _MAVLINK_PROTOCOL_H_
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