[88] | 1 | #ifndef _MAVLINK_PROTOCOL_H_
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| 2 | #define _MAVLINK_PROTOCOL_H_
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| 3 |
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| 4 | #include "string.h"
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| 5 | #include "mavlink_types.h"
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| 6 |
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| 7 | /*
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| 8 | If you want MAVLink on a system that is native big-endian,
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| 9 | you need to define NATIVE_BIG_ENDIAN
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| 10 | */
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| 11 | #ifdef NATIVE_BIG_ENDIAN
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| 12 | # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
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| 13 | #else
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| 14 | # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
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| 15 | #endif
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| 16 |
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| 17 | #ifndef MAVLINK_STACK_BUFFER
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| 18 | #define MAVLINK_STACK_BUFFER 0
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| 19 | #endif
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| 20 |
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| 21 | #ifndef MAVLINK_AVOID_GCC_STACK_BUG
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| 22 | # define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
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| 23 | #endif
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| 24 |
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| 25 | #ifndef MAVLINK_ASSERT
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| 26 | #define MAVLINK_ASSERT(x)
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| 27 | #endif
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| 28 |
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| 29 | #ifndef MAVLINK_START_UART_SEND
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| 30 | #define MAVLINK_START_UART_SEND(chan, length)
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| 31 | #endif
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| 32 |
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| 33 | #ifndef MAVLINK_END_UART_SEND
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| 34 | #define MAVLINK_END_UART_SEND(chan, length)
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| 35 | #endif
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| 36 |
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| 37 | /* option to provide alternative implementation of mavlink_helpers.h */
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| 38 | #ifdef MAVLINK_SEPARATE_HELPERS
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| 39 |
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| 40 | #define MAVLINK_HELPER
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| 41 |
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| 42 | /* decls in sync with those in mavlink_helpers.h */
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| 43 | #ifndef MAVLINK_GET_CHANNEL_STATUS
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| 44 | MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
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| 45 | #endif
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| 46 | MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
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| 47 | #if MAVLINK_CRC_EXTRA
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| 48 | MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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| 49 | uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);
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| 50 | MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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| 51 | uint8_t min_length, uint8_t length, uint8_t crc_extra);
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| 52 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 53 | MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
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| 54 | uint8_t min_length, uint8_t length, uint8_t crc_extra);
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| 55 | #endif
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| 56 | #else
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| 57 | MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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| 58 | uint8_t chan, uint8_t length);
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| 59 | MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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| 60 | uint8_t length);
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| 61 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 62 | 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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| 63 | #endif
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| 64 | #endif // MAVLINK_CRC_EXTRA
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| 65 | MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
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| 66 | MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
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| 67 | MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
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| 68 | MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
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| 69 | mavlink_status_t* status,
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| 70 | uint8_t c,
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| 71 | mavlink_message_t* r_message,
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| 72 | mavlink_status_t* r_mavlink_status);
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| 73 | MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
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| 74 | 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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| 75 | 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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| 76 | uint8_t* r_bit_index, uint8_t* buffer);
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| 77 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 78 | MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
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| 79 | MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
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| 80 | #endif
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| 81 |
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| 82 | #else
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| 83 |
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| 84 | #define MAVLINK_HELPER static inline
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| 85 | #include "mavlink_helpers.h"
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| 86 |
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| 87 | #endif // MAVLINK_SEPARATE_HELPERS
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| 88 |
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| 89 | /**
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| 90 | * @brief Get the required buffer size for this message
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| 91 | */
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| 92 | static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
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| 93 | {
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| 94 | return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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| 95 | }
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| 96 |
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| 97 | #if MAVLINK_NEED_BYTE_SWAP
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| 98 | static inline void byte_swap_2(char *dst, const char *src)
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| 99 | {
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| 100 | dst[0] = src[1];
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| 101 | dst[1] = src[0];
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| 102 | }
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| 103 | static inline void byte_swap_4(char *dst, const char *src)
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| 104 | {
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| 105 | dst[0] = src[3];
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| 106 | dst[1] = src[2];
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| 107 | dst[2] = src[1];
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| 108 | dst[3] = src[0];
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| 109 | }
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| 110 | static inline void byte_swap_8(char *dst, const char *src)
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| 111 | {
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| 112 | dst[0] = src[7];
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| 113 | dst[1] = src[6];
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| 114 | dst[2] = src[5];
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| 115 | dst[3] = src[4];
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| 116 | dst[4] = src[3];
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| 117 | dst[5] = src[2];
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| 118 | dst[6] = src[1];
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| 119 | dst[7] = src[0];
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| 120 | }
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| 121 | #elif !MAVLINK_ALIGNED_FIELDS
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| 122 | static inline void byte_copy_2(char *dst, const char *src)
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| 123 | {
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| 124 | dst[0] = src[0];
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| 125 | dst[1] = src[1];
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| 126 | }
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| 127 | static inline void byte_copy_4(char *dst, const char *src)
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| 128 | {
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| 129 | dst[0] = src[0];
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| 130 | dst[1] = src[1];
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| 131 | dst[2] = src[2];
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| 132 | dst[3] = src[3];
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| 133 | }
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| 134 | static inline void byte_copy_8(char *dst, const char *src)
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| 135 | {
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| 136 | memcpy(dst, src, 8);
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| 137 | }
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| 138 | #endif
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| 139 |
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| 140 | #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
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| 141 | #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
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| 142 | #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
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| 143 |
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| 144 | #if MAVLINK_NEED_BYTE_SWAP
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| 145 | #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
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| 146 | #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
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| 147 | #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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| 148 | #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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| 149 | #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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| 150 | #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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| 151 | #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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| 152 | #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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| 153 | #elif !MAVLINK_ALIGNED_FIELDS
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| 154 | #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
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| 155 | #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
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| 156 | #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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| 157 | #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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| 158 | #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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| 159 | #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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| 160 | #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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| 161 | #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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| 162 | #else
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| 163 | #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
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| 164 | #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
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| 165 | #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
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| 166 | #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
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| 167 | #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
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| 168 | #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
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| 169 | #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
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| 170 | #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
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| 171 | #endif
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| 172 |
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| 173 | /*
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| 174 | like memcpy(), but if src is NULL, do a memset to zero
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| 175 | */
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| 176 | static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
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| 177 | {
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| 178 | if (src == NULL) {
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| 179 | memset(dest, 0, n);
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| 180 | } else {
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| 181 | memcpy(dest, src, n);
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| 182 | }
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| 183 | }
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| 184 |
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| 185 | /*
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| 186 | * Place a char array into a buffer
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| 187 | */
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| 188 | static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
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| 189 | {
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| 190 | mav_array_memcpy(&buf[wire_offset], b, array_length);
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| 191 |
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| 192 | }
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| 193 |
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| 194 | /*
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| 195 | * Place a uint8_t array into a buffer
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| 196 | */
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| 197 | 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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| 198 | {
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| 199 | mav_array_memcpy(&buf[wire_offset], b, array_length);
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| 200 |
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| 201 | }
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| 202 |
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| 203 | /*
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| 204 | * Place a int8_t array into a buffer
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| 205 | */
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| 206 | 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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| 207 | {
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| 208 | mav_array_memcpy(&buf[wire_offset], b, array_length);
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| 209 |
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| 210 | }
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| 211 |
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| 212 | #if MAVLINK_NEED_BYTE_SWAP
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| 213 | #define _MAV_PUT_ARRAY(TYPE, V) \
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| 214 | static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
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| 215 | { \
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| 216 | if (b == NULL) { \
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| 217 | memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
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| 218 | } else { \
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| 219 | uint16_t i; \
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| 220 | for (i=0; i<array_length; i++) { \
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| 221 | _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
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| 222 | } \
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| 223 | } \
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| 224 | }
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| 225 | #else
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| 226 | #define _MAV_PUT_ARRAY(TYPE, V) \
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| 227 | static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
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| 228 | { \
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| 229 | mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
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| 230 | }
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| 231 | #endif
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| 232 |
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| 233 | _MAV_PUT_ARRAY(uint16_t, u16)
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| 234 | _MAV_PUT_ARRAY(uint32_t, u32)
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| 235 | _MAV_PUT_ARRAY(uint64_t, u64)
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| 236 | _MAV_PUT_ARRAY(int16_t, i16)
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| 237 | _MAV_PUT_ARRAY(int32_t, i32)
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| 238 | _MAV_PUT_ARRAY(int64_t, i64)
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| 239 | _MAV_PUT_ARRAY(float, f)
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| 240 | _MAV_PUT_ARRAY(double, d)
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| 241 |
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| 242 | #define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
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| 243 | #define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
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| 244 | #define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
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| 245 |
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| 246 | #if MAVLINK_NEED_BYTE_SWAP
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| 247 | #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
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| 248 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
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| 249 | { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
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| 250 |
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| 251 | _MAV_MSG_RETURN_TYPE(uint16_t, 2)
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| 252 | _MAV_MSG_RETURN_TYPE(int16_t, 2)
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| 253 | _MAV_MSG_RETURN_TYPE(uint32_t, 4)
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| 254 | _MAV_MSG_RETURN_TYPE(int32_t, 4)
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| 255 | _MAV_MSG_RETURN_TYPE(uint64_t, 8)
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| 256 | _MAV_MSG_RETURN_TYPE(int64_t, 8)
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| 257 | _MAV_MSG_RETURN_TYPE(float, 4)
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| 258 | _MAV_MSG_RETURN_TYPE(double, 8)
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| 259 |
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| 260 | #elif !MAVLINK_ALIGNED_FIELDS
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| 261 | #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
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| 262 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
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| 263 | { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
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| 264 |
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| 265 | _MAV_MSG_RETURN_TYPE(uint16_t, 2)
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| 266 | _MAV_MSG_RETURN_TYPE(int16_t, 2)
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| 267 | _MAV_MSG_RETURN_TYPE(uint32_t, 4)
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| 268 | _MAV_MSG_RETURN_TYPE(int32_t, 4)
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| 269 | _MAV_MSG_RETURN_TYPE(uint64_t, 8)
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| 270 | _MAV_MSG_RETURN_TYPE(int64_t, 8)
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| 271 | _MAV_MSG_RETURN_TYPE(float, 4)
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| 272 | _MAV_MSG_RETURN_TYPE(double, 8)
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| 273 | #else // nicely aligned, no swap
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| 274 | #define _MAV_MSG_RETURN_TYPE(TYPE) \
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| 275 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
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| 276 | { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
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| 277 |
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| 278 | _MAV_MSG_RETURN_TYPE(uint16_t)
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| 279 | _MAV_MSG_RETURN_TYPE(int16_t)
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| 280 | _MAV_MSG_RETURN_TYPE(uint32_t)
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| 281 | _MAV_MSG_RETURN_TYPE(int32_t)
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| 282 | _MAV_MSG_RETURN_TYPE(uint64_t)
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| 283 | _MAV_MSG_RETURN_TYPE(int64_t)
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| 284 | _MAV_MSG_RETURN_TYPE(float)
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| 285 | _MAV_MSG_RETURN_TYPE(double)
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| 286 | #endif // MAVLINK_NEED_BYTE_SWAP
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| 287 |
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| 288 | static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
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| 289 | uint8_t array_length, uint8_t wire_offset)
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| 290 | {
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| 291 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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| 292 | return array_length;
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| 293 | }
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| 294 |
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| 295 | static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
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| 296 | uint8_t array_length, uint8_t wire_offset)
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| 297 | {
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| 298 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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| 299 | return array_length;
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| 300 | }
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| 301 |
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| 302 | static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
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| 303 | uint8_t array_length, uint8_t wire_offset)
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| 304 | {
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| 305 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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| 306 | return array_length;
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| 307 | }
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| 308 |
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| 309 | #if MAVLINK_NEED_BYTE_SWAP
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| 310 | #define _MAV_RETURN_ARRAY(TYPE, V) \
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| 311 | static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
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| 312 | uint8_t array_length, uint8_t wire_offset) \
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| 313 | { \
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| 314 | uint16_t i; \
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| 315 | for (i=0; i<array_length; i++) { \
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| 316 | value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
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| 317 | } \
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| 318 | return array_length*sizeof(value[0]); \
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| 319 | }
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| 320 | #else
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| 321 | #define _MAV_RETURN_ARRAY(TYPE, V) \
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| 322 | static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
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| 323 | uint8_t array_length, uint8_t wire_offset) \
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| 324 | { \
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| 325 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
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| 326 | return array_length*sizeof(TYPE); \
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| 327 | }
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| 328 | #endif
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| 329 |
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| 330 | _MAV_RETURN_ARRAY(uint16_t, u16)
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| 331 | _MAV_RETURN_ARRAY(uint32_t, u32)
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| 332 | _MAV_RETURN_ARRAY(uint64_t, u64)
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| 333 | _MAV_RETURN_ARRAY(int16_t, i16)
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| 334 | _MAV_RETURN_ARRAY(int32_t, i32)
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| 335 | _MAV_RETURN_ARRAY(int64_t, i64)
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| 336 | _MAV_RETURN_ARRAY(float, f)
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| 337 | _MAV_RETURN_ARRAY(double, d)
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| 338 |
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| 339 | #endif // _MAVLINK_PROTOCOL_H_
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