Line data    Source code

       1             : /// @file       GCS_MAVLink.h
       2             : /// @brief      One size fits all header for MAVLink integration.
       3             : #pragma once
       4             : 
       5             : #include <AP_HAL/AP_HAL_Boards.h>
       6             : #include <AP_Networking/AP_Networking_Config.h>
       7             : 
       8             : // we have separate helpers disabled to make it possible
       9             : // to select MAVLink 1.0 in the arduino GUI build
      10             : #define MAVLINK_SEPARATE_HELPERS
      11             : #define MAVLINK_NO_CONVERSION_HELPERS
      12             : 
      13             : #define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
      14             : 
      15             : #define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size)
      16             : #define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan)
      17             : 
      18             : #ifndef MAVLINK_COMM_NUM_BUFFERS
      19             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
      20             : #define MAVLINK_COMM_NUM_BUFFERS 16
      21             : #elif HAL_PROGRAM_SIZE_LIMIT_KB > 1024
      22             : // allow 8 telemetry ports, allowing for extra networking or CAN ports
      23             : #define MAVLINK_COMM_NUM_BUFFERS 8
      24             : #else
      25             : // allow five telemetry ports
      26             : #define MAVLINK_COMM_NUM_BUFFERS 5
      27             : #endif
      28             : #endif  // MAVLINK_COMM_NUM_BUFFERS
      29             : 
      30             : typedef uint32_t mavlink_channel_mask_t;
      31             : 
      32             : #define MAVLINK_GET_CHANNEL_BUFFER 1
      33             : #define MAVLINK_GET_CHANNEL_STATUS 1
      34             : 
      35             : /*
      36             :   The MAVLink protocol code generator does its own alignment, so
      37             :   alignment cast warnings can be ignored
      38             :  */
      39             : #pragma GCC diagnostic push
      40             : #pragma GCC diagnostic ignored "-Wcast-align"
      41             : 
      42             : #if defined(__GNUC__) && __GNUC__ >= 9
      43             : #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
      44             : #endif
      45             : 
      46             : #include "include/mavlink/v2.0/all/version.h"
      47             : 
      48             : #define MAVLINK_MAX_PAYLOAD_LEN 255
      49             : 
      50             : #include "include/mavlink/v2.0/mavlink_types.h"
      51             : 
      52             : /// MAVLink streams used for each telemetry port
      53             : extern AP_HAL::UARTDriver       *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
      54             : extern bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
      55             : 
      56             : /// MAVLink system definition
      57             : extern mavlink_system_t mavlink_system;
      58             : 
      59             : /// Sanity check MAVLink channel
      60             : ///
      61             : /// @param chan         Channel to send to
      62   106080885 : static inline bool valid_channel(mavlink_channel_t chan)
      63             : {
      64   106080885 :     return static_cast<int>(chan) < MAVLINK_COMM_NUM_BUFFERS;
      65             : }
      66             : 
      67             : mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
      68             : mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
      69             : 
      70             : void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len);
      71             : 
      72             : /// Check for available transmit space on the nominated MAVLink channel
      73             : ///
      74             : /// @param chan         Channel to check
      75             : /// @returns            Number of bytes available
      76             : uint16_t comm_get_txspace(mavlink_channel_t chan);
      77             : 
      78             : #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
      79             : 
      80             : #pragma GCC diagnostic push
      81             : // mavlink relies on strncpy() supporting deliberate truncation
      82             : #if !defined(__clang__)  // avoid -Wunknown-warning-option
      83             : #pragma GCC diagnostic ignored "-Wstringop-truncation"
      84             : #endif  // clang
      85             : #include "include/mavlink/v2.0/all/mavlink.h"
      86             : #pragma GCC diagnostic pop
      87             : 
      88             : // lock and unlock a channel, for multi-threaded mavlink send
      89             : void comm_send_lock(mavlink_channel_t chan, uint16_t size);
      90             : void comm_send_unlock(mavlink_channel_t chan);
      91             : HAL_Semaphore &comm_chan_lock(mavlink_channel_t chan);
      92             : 
      93             : #pragma GCC diagnostic pop