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This commit is contained in:
tk 2024-08-19 14:54:35 +08:00
parent ceba245d46
commit 805b83f143
1 changed files with 99 additions and 90 deletions
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55
lib/mavlink/mavlink_types.h
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@ -5,7 +5,7 @@
#ifndef MAVLINK_MAX_PAYLOAD_LEN #ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful! // it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 100 ///< Maximum payload length 255 #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length 255
#endif #endif
#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) #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)
@ -19,17 +19,19 @@
#define MAVLINK_EXTENDED_HEADER_LEN 14 #define MAVLINK_EXTENDED_HEADER_LEN 14
#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__) #if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
/* full fledged 32bit++ OS */ /* full fledged 32bit++ OS */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507 #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
#else #else
/* small microcontrollers */ /* small microcontrollers */
#define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048 #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
#endif #endif
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES) #define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
typedef struct param_union { typedef struct param_union
union { {
union
{
float param_float; float param_float;
int32_t param_int32; int32_t param_int32;
uint32_t param_uint32; uint32_t param_uint32;
@ -39,7 +41,8 @@ typedef struct param_union {
uint8_t type; uint8_t type;
} mavlink_param_union_t; } mavlink_param_union_t;
typedef struct __mavlink_system { typedef struct __mavlink_system
{
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t type; ///< Unused, can be used by user to store the system's type uint8_t type; ///< Unused, can be used by user to store the system's type
@ -48,7 +51,8 @@ typedef struct __mavlink_system {
uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode uint8_t nav_mode; ///< Unused, can be used by user to store the system's navigation mode
} mavlink_system_t; } mavlink_system_t;
typedef struct __mavlink_message { typedef struct __mavlink_message
{
uint16_t checksum; /// sent at end of packet uint16_t checksum; /// sent at end of packet
uint8_t magic; ///< protocol magic marker uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload uint8_t len; ///< Length of payload
@ -56,18 +60,18 @@ typedef struct __mavlink_message {
uint8_t sysid; ///< ID of message sender system/aircraft uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component uint8_t compid; ///< ID of the message sender component
uint8_t msgid; ///< ID of message in payload uint8_t msgid; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_CHECKSUM_BYTES + 7) / 8];
} mavlink_message_t; } mavlink_message_t;
typedef struct __mavlink_extended_message
typedef struct __mavlink_extended_message { {
mavlink_message_t base_msg; mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN]; uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t; } mavlink_extended_message_t;
typedef enum
typedef enum { {
MAVLINK_TYPE_CHAR = 0, MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1, MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2, MAVLINK_TYPE_INT8_T = 2,
@ -83,7 +87,8 @@ typedef enum {
#define MAVLINK_MAX_FIELDS 64 #define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info { typedef struct __mavlink_field_info
{
const char *name; // name of this field const char *name; // name of this field
const char *print_format; // printing format hint, or NULL const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field mavlink_message_type_t type; // type of this field
@ -94,7 +99,8 @@ typedef struct __mavlink_field_info {
// note that in this structure the order of fields is the order // note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order // in the XML file, not necessary the wire order
typedef struct __mavlink_message_info { typedef struct __mavlink_message_info
{
const char *name; // name of the message const char *name; // name of the message
unsigned num_fields; // how many fields in this message unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
@ -105,9 +111,10 @@ typedef struct __mavlink_message_info {
// checksum is immediately after the payload bytes // checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) #define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) #define mavlink_ck_b(msg) *(((msg)->len + (uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum { typedef enum
{
MAVLINK_COMM_0, MAVLINK_COMM_0,
MAVLINK_COMM_1, MAVLINK_COMM_1,
MAVLINK_COMM_2, MAVLINK_COMM_2,
@ -121,14 +128,15 @@ typedef enum {
*/ */
#ifndef MAVLINK_COMM_NUM_BUFFERS #ifndef MAVLINK_COMM_NUM_BUFFERS
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) #if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
# define MAVLINK_COMM_NUM_BUFFERS 16 #define MAVLINK_COMM_NUM_BUFFERS 16
#else #else
# define MAVLINK_COMM_NUM_BUFFERS 4 #define MAVLINK_COMM_NUM_BUFFERS 4
#endif #endif
#endif #endif
typedef enum { typedef enum
MAVLINK_PARSE_STATE_UNINIT=0, {
MAVLINK_PARSE_STATE_UNINIT = 0,
MAVLINK_PARSE_STATE_IDLE, MAVLINK_PARSE_STATE_IDLE,
MAVLINK_PARSE_STATE_GOT_STX, MAVLINK_PARSE_STATE_GOT_STX,
MAVLINK_PARSE_STATE_GOT_SEQ, MAVLINK_PARSE_STATE_GOT_SEQ,
@ -140,7 +148,8 @@ typedef enum {
MAVLINK_PARSE_STATE_GOT_CRC1 MAVLINK_PARSE_STATE_GOT_CRC1
} mavlink_parse_state_t; ///< The state machine for the comm parser } mavlink_parse_state_t; ///< The state machine for the comm parser
typedef struct __mavlink_status { typedef struct __mavlink_status
{
uint8_t msg_received; ///< Number of received messages uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors uint8_t parse_error; ///< Number of parse errors