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Diffstat (limited to 'apps/mavlink/mavlink_bridge_header.h')
-rw-r--r-- | apps/mavlink/mavlink_bridge_header.h | 89 |
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 index 000000000..26bc26fdf --- /dev/null +++ b/apps/mavlink/mavlink_bridge_header.h @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * 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 */ |