Fresh import of the PX4 firmware sources.

1 files changed, 89 insertions, 0 deletions

diff --git a/apps/mavlink/mavlink_bridge_header.h b/apps/mavlink/mavlink_bridge_header.h
new file mode 100644
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+++ b/apps/mavlink/mavlink_bridge_header.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_bridge_header
+ * MAVLink bridge header for UART access.
+ */
+
+/* MAVLink adapter header */
+#ifndef MAVLINK_BRIDGE_HEADER_H
+#define MAVLINK_BRIDGE_HEADER_H
+
+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+//use efficient approach, see mavlink_helpers.h
+#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
+
+#include "v1.0/mavlink_types.h"
+#include <unistd.h>
+
+
+/* Struct that stores the communication settings of this system.
+   you can also define / alter these settings elsewhere, as long
+   as they're included BEFORE mavlink.h.
+   So you can set the
+
+   mavlink_system.sysid = 100; // System ID, 1-255
+   mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
+
+   Lines also in your main.c, e.g. by reading these parameter from EEPROM.
+ */
+extern mavlink_system_t mavlink_system;
+
+
+mqd_t gps_queue;
+int uart;
+
+
+/**
+ * @brief Send multiple chars (uint8_t) over a comm channel
+ *
+ * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
+ * @param ch Character to send
+ */
+static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length)
+{
+	ssize_t ret;
+
+	if (chan == MAVLINK_COMM_0) {
+		ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length));
+
+		if (ret != length) {
+			printf("[mavlink] Error: Written %u instead of %u\n", ret, length);
+		}
+	}
+}
+
+#endif /* MAVLINK_BRIDGE_HEADER_H */