lib/main/MAVLink/mavlink_types.h

   1 #ifndef MAVLINK_TYPES_H_
   2 #define MAVLINK_TYPES_H_
   3
   4 // Visual Studio versions before 2010 don't have stdint.h, so we just error out.
   5 #if (defined _MSC_VER) && (_MSC_VER < 1600)
   6 #error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
   7 #endif
   8
   9 #include <stdint.h>
  10
  11 // Macro to define packed structures
  12 #ifdef __GNUC__
  13   #define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
  14 #else
  15   #define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
  16 #endif
  17
  18 #ifndef MAVLINK_MAX_PAYLOAD_LEN
  19 // it is possible to override this, but be careful!
  20 #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
  21 #endif
  22
  23 #define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
  24 #define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
  25 #define MAVLINK_NUM_CHECKSUM_BYTES 2
  26 #define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
  27
  28 #define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
  29
  30 #define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
  31 #define MAVLINK_EXTENDED_HEADER_LEN 14
  32
  33 #if (defined _MSC_VER) || ((defined __APPLE__) && (defined __MACH__)) || (defined __linux__)
  34   /* full fledged 32bit++ OS */
  35   #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
  36 #else
  37   /* small microcontrollers */
  38   #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
  39 #endif
  40
  41 #define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
  42
  43
  44 /**
  45  * Old-style 4 byte param union
  46  *
  47  * This struct is the data format to be used when sending
  48  * parameters. The parameter should be copied to the native
  49  * type (without type conversion)
  50  * and re-instanted on the receiving side using the
  51  * native type as well.
  52  */
  53 MAVPACKED(
  54 typedef struct param_union {
  55         union {
  56                 float param_float;
  57                 int32_t param_int32;
  58                 uint32_t param_uint32;
  59                 int16_t param_int16;
  60                 uint16_t param_uint16;
  61                 int8_t param_int8;
  62                 uint8_t param_uint8;
  63                 uint8_t bytes[4];
  64         };
  65         uint8_t type;
  66 }) mavlink_param_union_t;
  67
  68
  69 /**
  70  * New-style 8 byte param union
  71  * mavlink_param_union_double_t will be 8 bytes long, and treated as needing 8 byte alignment for the purposes of MAVLink 1.0 field ordering.
  72  * The mavlink_param_union_double_t will be treated as a little-endian structure.
  73  *
  74  * If is_double is 1 then the type is a double, and the remaining 63 bits are the double, with the lowest bit of the mantissa zero.
  75  * The intention is that by replacing the is_double bit with 0 the type can be directly used as a double (as the is_double bit corresponds to the
  76  * lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union.
  77  * The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above,
  78  * as bitfield ordering isn’t consistent between platforms. The above is intended to be for gcc on x86,
  79  * which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number,
  80  * and the bits pulled out using the shifts/masks.
  81 */
  82 MAVPACKED(
  83 typedef struct param_union_extended {
  84     union {
  85     struct {
  86         uint8_t is_double:1;
  87         uint8_t mavlink_type:7;
  88         union {
  89             char c;
  90             uint8_t uint8;
  91             int8_t int8;
  92             uint16_t uint16;
  93             int16_t int16;
  94             uint32_t uint32;
  95             int32_t int32;
  96             float f;
  97             uint8_t align[7];
  98         };
  99     };
 100     uint8_t data[8];
 101     };
 102 }) mavlink_param_union_double_t;
 103
 104 /**
 105  * This structure is required to make the mavlink_send_xxx convenience functions
 106  * work, as it tells the library what the current system and component ID are.
 107  */
 108 MAVPACKED(
 109 typedef struct __mavlink_system {
 110     uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
 111     uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
 112 }) mavlink_system_t;
 113
 114 MAVPACKED(
 115 typedef struct __mavlink_message {
 116         uint16_t checksum; ///< sent at end of packet
 117         uint8_t magic;   ///< protocol magic marker
 118         uint8_t len;     ///< Length of payload
 119         uint8_t seq;     ///< Sequence of packet
 120         uint8_t sysid;   ///< ID of message sender system/aircraft
 121         uint8_t compid;  ///< ID of the message sender component
 122         uint8_t msgid;   ///< ID of message in payload
 123         uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
 124 }) mavlink_message_t;
 125
 126 MAVPACKED(
 127 typedef struct __mavlink_extended_message {
 128        mavlink_message_t base_msg;
 129        int32_t extended_payload_len;   ///< Length of extended payload if any
 130        uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
 131 }) mavlink_extended_message_t;
 132
 133 typedef enum {
 134         MAVLINK_TYPE_CHAR     = 0,
 135         MAVLINK_TYPE_UINT8_T  = 1,
 136         MAVLINK_TYPE_INT8_T   = 2,
 137         MAVLINK_TYPE_UINT16_T = 3,
 138         MAVLINK_TYPE_INT16_T  = 4,
 139         MAVLINK_TYPE_UINT32_T = 5,
 140         MAVLINK_TYPE_INT32_T  = 6,
 141         MAVLINK_TYPE_UINT64_T = 7,
 142         MAVLINK_TYPE_INT64_T  = 8,
 143         MAVLINK_TYPE_FLOAT    = 9,
 144         MAVLINK_TYPE_DOUBLE   = 10
 145 } mavlink_message_type_t;
 146
 147 #define MAVLINK_MAX_FIELDS 64
 148
 149 typedef struct __mavlink_field_info {
 150         const char *name;                 // name of this field
 151         const char *print_format;         // printing format hint, or NULL
 152         mavlink_message_type_t type;      // type of this field
 153         unsigned int array_length;        // if non-zero, field is an array
 154         unsigned int wire_offset;         // offset of each field in the payload
 155         unsigned int structure_offset;    // offset in a C structure
 156 } mavlink_field_info_t;
 157
 158 // note that in this structure the order of fields is the order
 159 // in the XML file, not necessary the wire order
 160 typedef struct __mavlink_message_info {
 161         const char *name;                                      // name of the message
 162         unsigned num_fields;                                   // how many fields in this message
 163         mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
 164 } mavlink_message_info_t;
 165
 166 #define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
 167 #define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
 168
 169 // checksum is immediately after the payload bytes
 170 #define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
 171 #define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
 172
 173 typedef enum {
 174     MAVLINK_COMM_0,
 175     MAVLINK_COMM_1,
 176     MAVLINK_COMM_2,
 177     MAVLINK_COMM_3
 178 } mavlink_channel_t;
 179
 180 /*
 181  * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
 182  * of buffers they will use. If more are used, then the result will be
 183  * a stack overrun
 184  */
 185 #ifndef MAVLINK_COMM_NUM_BUFFERS
 186 #if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
 187 # define MAVLINK_COMM_NUM_BUFFERS 16
 188 #else
 189 # define MAVLINK_COMM_NUM_BUFFERS 4
 190 #endif
 191 #endif
 192
 193 typedef enum {
 194     MAVLINK_PARSE_STATE_UNINIT=0,
 195     MAVLINK_PARSE_STATE_IDLE,
 196     MAVLINK_PARSE_STATE_GOT_STX,
 197     MAVLINK_PARSE_STATE_GOT_SEQ,
 198     MAVLINK_PARSE_STATE_GOT_LENGTH,
 199     MAVLINK_PARSE_STATE_GOT_SYSID,
 200     MAVLINK_PARSE_STATE_GOT_COMPID,
 201     MAVLINK_PARSE_STATE_GOT_MSGID,
 202     MAVLINK_PARSE_STATE_GOT_PAYLOAD,
 203     MAVLINK_PARSE_STATE_GOT_CRC1
 204 } mavlink_parse_state_t; ///< The state machine for the comm parser
 205
 206 typedef struct __mavlink_status {
 207     uint8_t msg_received;               ///< Number of received messages
 208     uint8_t buffer_overrun;             ///< Number of buffer overruns
 209     uint8_t parse_error;                ///< Number of parse errors
 210     mavlink_parse_state_t parse_state;  ///< Parsing state machine
 211     uint8_t packet_idx;                 ///< Index in current packet
 212     uint8_t current_rx_seq;             ///< Sequence number of last packet received
 213     uint8_t current_tx_seq;             ///< Sequence number of last packet sent
 214     uint16_t packet_rx_success_count;   ///< Received packets
 215     uint16_t packet_rx_drop_count;      ///< Number of packet drops
 216 } mavlink_status_t;
 217
 218 #define MAVLINK_BIG_ENDIAN 0
 219 #define MAVLINK_LITTLE_ENDIAN 1
 220
 221 #endif /* MAVLINK_TYPES_H_ */