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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* 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.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* 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
#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
#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;
/**
* @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
*/
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
#include <v1.0/common/mavlink.h>
#endif /* MAVLINK_BRIDGE_HEADER_H */
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