diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/protocol.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/protocol.h | 328 |
1 files changed, 0 insertions, 328 deletions
diff --git a/mavlink/include/mavlink/v1.0/protocol.h b/mavlink/include/mavlink/v1.0/protocol.h deleted file mode 100644 index 86e7ff588..000000000 --- a/mavlink/include/mavlink/v1.0/protocol.h +++ /dev/null @@ -1,328 +0,0 @@ -#ifndef _MAVLINK_PROTOCOL_H_ -#define _MAVLINK_PROTOCOL_H_ - -#include "string.h" -#include "mavlink_types.h" - -/* - If you want MAVLink on a system that is native big-endian, - you need to define NATIVE_BIG_ENDIAN -*/ -#ifdef NATIVE_BIG_ENDIAN -# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN) -#else -# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN) -#endif - -#ifndef MAVLINK_STACK_BUFFER -#define MAVLINK_STACK_BUFFER 0 -#endif - -#ifndef MAVLINK_AVOID_GCC_STACK_BUG -# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) -#endif - -#ifndef MAVLINK_ASSERT -#define MAVLINK_ASSERT(x) -#endif - -#ifndef MAVLINK_START_UART_SEND -#define MAVLINK_START_UART_SEND(chan, length) -#endif - -#ifndef MAVLINK_END_UART_SEND -#define MAVLINK_END_UART_SEND(chan, length) -#endif - -#ifdef MAVLINK_SEPARATE_HELPERS -#define MAVLINK_HELPER -#else -#define MAVLINK_HELPER static inline -#include "mavlink_helpers.h" -#endif // MAVLINK_SEPARATE_HELPERS - -/* always include the prototypes to ensure we don't get out of sync */ -#ifndef MAVLINK_GET_CHANNEL_STATUS -MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); -#endif -MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan); -#if MAVLINK_CRC_EXTRA -MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, - uint8_t chan, uint8_t length, uint8_t crc_extra); -MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, - uint8_t length, uint8_t crc_extra); -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, - uint8_t length, uint8_t crc_extra); -#endif -#else -MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, - uint8_t chan, uint8_t length); -MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, - uint8_t length); -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length); -#endif -#endif // MAVLINK_CRC_EXTRA -MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); -MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); -MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); -MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); -MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, - uint8_t* r_bit_index, uint8_t* buffer); -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); -MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg); -#endif - -/** - * @brief Get the required buffer size for this message - */ -static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) -{ - return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; -} - -#if MAVLINK_NEED_BYTE_SWAP -static inline void byte_swap_2(char *dst, const char *src) -{ - dst[0] = src[1]; - dst[1] = src[0]; -} -static inline void byte_swap_4(char *dst, const char *src) -{ - dst[0] = src[3]; - dst[1] = src[2]; - dst[2] = src[1]; - dst[3] = src[0]; -} -static inline void byte_swap_8(char *dst, const char *src) -{ - dst[0] = src[7]; - dst[1] = src[6]; - dst[2] = src[5]; - dst[3] = src[4]; - dst[4] = src[3]; - dst[5] = src[2]; - dst[6] = src[1]; - dst[7] = src[0]; -} -#elif !MAVLINK_ALIGNED_FIELDS -static inline void byte_copy_2(char *dst, const char *src) -{ - dst[0] = src[0]; - dst[1] = src[1]; -} -static inline void byte_copy_4(char *dst, const char *src) -{ - dst[0] = src[0]; - dst[1] = src[1]; - dst[2] = src[2]; - dst[3] = src[3]; -} -static inline void byte_copy_8(char *dst, const char *src) -{ - memcpy(dst, src, 8); -} -#endif - -#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b -#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b -#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b - -#if MAVLINK_NEED_BYTE_SWAP -#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) -#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) -#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) -#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) -#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) -#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) -#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) -#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) -#elif !MAVLINK_ALIGNED_FIELDS -#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) -#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) -#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) -#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) -#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) -#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) -#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) -#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) -#else -#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b -#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b -#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b -#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b -#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b -#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b -#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b -#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b -#endif - -/* - like memcpy(), but if src is NULL, do a memset to zero -*/ -static inline void mav_array_memcpy(void *dest, const void *src, size_t n) -{ - if (src == NULL) { - memset(dest, 0, n); - } else { - memcpy(dest, src, n); - } -} - -/* - * Place a char array into a buffer - */ -static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) -{ - mav_array_memcpy(&buf[wire_offset], b, array_length); - -} - -/* - * Place a uint8_t array into a buffer - */ -static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) -{ - mav_array_memcpy(&buf[wire_offset], b, array_length); - -} - -/* - * Place a int8_t array into a buffer - */ -static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) -{ - mav_array_memcpy(&buf[wire_offset], b, array_length); - -} - -#if MAVLINK_NEED_BYTE_SWAP -#define _MAV_PUT_ARRAY(TYPE, V) \ -static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ -{ \ - if (b == NULL) { \ - memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ - } else { \ - uint16_t i; \ - for (i=0; i<array_length; i++) { \ - _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \ - } \ - } \ -} -#else -#define _MAV_PUT_ARRAY(TYPE, V) \ -static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ -{ \ - mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \ -} -#endif - -_MAV_PUT_ARRAY(uint16_t, u16) -_MAV_PUT_ARRAY(uint32_t, u32) -_MAV_PUT_ARRAY(uint64_t, u64) -_MAV_PUT_ARRAY(int16_t, i16) -_MAV_PUT_ARRAY(int32_t, i32) -_MAV_PUT_ARRAY(int64_t, i64) -_MAV_PUT_ARRAY(float, f) -_MAV_PUT_ARRAY(double, d) - -#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset] -#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset] -#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset] - -#if MAVLINK_NEED_BYTE_SWAP -#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ -static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ -{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; } - -_MAV_MSG_RETURN_TYPE(uint16_t, 2) -_MAV_MSG_RETURN_TYPE(int16_t, 2) -_MAV_MSG_RETURN_TYPE(uint32_t, 4) -_MAV_MSG_RETURN_TYPE(int32_t, 4) -_MAV_MSG_RETURN_TYPE(uint64_t, 8) -_MAV_MSG_RETURN_TYPE(int64_t, 8) -_MAV_MSG_RETURN_TYPE(float, 4) -_MAV_MSG_RETURN_TYPE(double, 8) - -#elif !MAVLINK_ALIGNED_FIELDS -#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \ -static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ -{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; } - -_MAV_MSG_RETURN_TYPE(uint16_t, 2) -_MAV_MSG_RETURN_TYPE(int16_t, 2) -_MAV_MSG_RETURN_TYPE(uint32_t, 4) -_MAV_MSG_RETURN_TYPE(int32_t, 4) -_MAV_MSG_RETURN_TYPE(uint64_t, 8) -_MAV_MSG_RETURN_TYPE(int64_t, 8) -_MAV_MSG_RETURN_TYPE(float, 4) -_MAV_MSG_RETURN_TYPE(double, 8) -#else // nicely aligned, no swap -#define _MAV_MSG_RETURN_TYPE(TYPE) \ -static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \ -{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);} - -_MAV_MSG_RETURN_TYPE(uint16_t) -_MAV_MSG_RETURN_TYPE(int16_t) -_MAV_MSG_RETURN_TYPE(uint32_t) -_MAV_MSG_RETURN_TYPE(int32_t) -_MAV_MSG_RETURN_TYPE(uint64_t) -_MAV_MSG_RETURN_TYPE(int64_t) -_MAV_MSG_RETURN_TYPE(float) -_MAV_MSG_RETURN_TYPE(double) -#endif // MAVLINK_NEED_BYTE_SWAP - -static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, - uint8_t array_length, uint8_t wire_offset) -{ - memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); - return array_length; -} - -static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, - uint8_t array_length, uint8_t wire_offset) -{ - memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); - return array_length; -} - -static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, - uint8_t array_length, uint8_t wire_offset) -{ - memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length); - return array_length; -} - -#if MAVLINK_NEED_BYTE_SWAP -#define _MAV_RETURN_ARRAY(TYPE, V) \ -static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \ - uint8_t array_length, uint8_t wire_offset) \ -{ \ - uint16_t i; \ - for (i=0; i<array_length; i++) { \ - value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \ - } \ - return array_length*sizeof(value[0]); \ -} -#else -#define _MAV_RETURN_ARRAY(TYPE, V) \ -static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \ - uint8_t array_length, uint8_t wire_offset) \ -{ \ - memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \ - return array_length*sizeof(TYPE); \ -} -#endif - -_MAV_RETURN_ARRAY(uint16_t, u16) -_MAV_RETURN_ARRAY(uint32_t, u32) -_MAV_RETURN_ARRAY(uint64_t, u64) -_MAV_RETURN_ARRAY(int16_t, i16) -_MAV_RETURN_ARRAY(int32_t, i32) -_MAV_RETURN_ARRAY(int64_t, i64) -_MAV_RETURN_ARRAY(float, f) -_MAV_RETURN_ARRAY(double, d) - -#endif // _MAVLINK_PROTOCOL_H_ |