Michael Shimniok
Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/protocol.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/protocol.h Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,997 @@
+#ifndef _MAVLINK_PROTOCOL_H_
+#define _MAVLINK_PROTOCOL_H_
+
+#include "string.h"
+#include "checksum.h"
+
+#include "mavlink_types.h"
+
+
+/**
+ * @brief Initialize the communication stack
+ *
+ * This function has to be called before using commParseBuffer() to initialize the different status registers.
+ *
+ * @return Will initialize the different buffers and status registers.
+ */
+static void mavlink_parse_state_initialize(mavlink_status_t* initStatus)
+{
+ if ((initStatus->parse_state <= MAVLINK_PARSE_STATE_UNINIT) || (initStatus->parse_state > MAVLINK_PARSE_STATE_GOT_CRC1))
+ {
+ initStatus->ck_a = 0;
+ initStatus->ck_b = 0;
+ initStatus->msg_received = 0;
+ initStatus->buffer_overrun = 0;
+ initStatus->parse_error = 0;
+ initStatus->parse_state = MAVLINK_PARSE_STATE_UNINIT;
+ initStatus->packet_idx = 0;
+ initStatus->packet_rx_drop_count = 0;
+ initStatus->packet_rx_success_count = 0;
+ initStatus->current_rx_seq = 0;
+ initStatus->current_tx_seq = 0;
+ }
+}
+
+static inline mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+{
+ static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+ return &m_mavlink_status[chan];
+}
+
+/**
+ * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
+ *
+ * This function calculates the checksum and sets length and aircraft id correctly.
+ * It assumes that the message id and the payload are already correctly set.
+ *
+ * @warning This function implicitely assumes the message is sent over channel zero.
+ * if the message is sent over a different channel it will reach the receiver
+ * without error, BUT the sequence number might be wrong due to the wrong
+ * channel sequence counter. This will result is wrongly reported excessive
+ * packet loss. Please use @see mavlink_{pack|encode}_headerless and then
+ * @see mavlink_finalize_message_chan before sending for a correct channel
+ * assignment. Please note that the mavlink_msg_xxx_pack and encode functions
+ * assign channel zero as default and thus induce possible loss counter errors.\
+ * They have been left to ensure code compatibility.
+ *
+ * @see mavlink_finalize_message_chan
+ * @param msg Message to finalize
+ * @param system_id Id of the sending (this) system, 1-127
+ * @param length Message length, usually just the counter incremented while packing the message
+ */
+static inline uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint16_t length)
+{
+ // This code part is the same for all messages;
+ uint16_t checksum;
+ msg->len = length;
+ msg->sysid = system_id;
+ msg->compid = component_id;
+ // One sequence number per component
+ msg->seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq;
+ mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1;
+ checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN);
+ msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte
+ msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte
+
+ return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES;
+}
+
+/**
+ * @brief Finalize a MAVLink message with channel assignment
+ *
+ * This function calculates the checksum and sets length and aircraft id correctly.
+ * It assumes that the message id and the payload are already correctly set. This function
+ * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
+ * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
+ *
+ * @param msg Message to finalize
+ * @param system_id Id of the sending (this) system, 1-127
+ * @param length Message length, usually just the counter incremented while packing the message
+ */
+static inline uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint16_t length)
+{
+ // This code part is the same for all messages;
+ uint16_t checksum;
+ msg->len = length;
+ msg->sysid = system_id;
+ msg->compid = component_id;
+ // One sequence number per component
+ msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
+ mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
+ checksum = crc_calculate((uint8_t*)((void*)msg), length + MAVLINK_CORE_HEADER_LEN);
+ msg->ck_a = (uint8_t)(checksum & 0xFF); ///< High byte
+ msg->ck_b = (uint8_t)(checksum >> 8); ///< Low byte
+
+ return length + MAVLINK_NUM_NON_STX_PAYLOAD_BYTES;
+}
+
+/**
+ * @brief Pack a message to send it over a serial byte stream
+ */
+static inline uint16_t mavlink_msg_to_send_buffer(uint8_t* buffer, const mavlink_message_t* msg)
+{
+ *(buffer+0) = MAVLINK_STX; ///< Start transmit
+ memcpy((buffer+1), msg, msg->len + MAVLINK_CORE_HEADER_LEN); ///< Core header plus payload
+ *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 1) = msg->ck_a;
+ *(buffer + msg->len + MAVLINK_CORE_HEADER_LEN + 2) = msg->ck_b;
+ return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+ //return 0;
+}
+
+/**
+ * @brief Get the required buffer size for this message
+ */
+static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
+{
+ return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
+union checksum_ {
+ uint16_t s;
+ uint8_t c[2];
+};
+
+union __mavlink_bitfield {
+ uint8_t uint8;
+ int8_t int8;
+ uint16_t uint16;
+ int16_t int16;
+ uint32_t uint32;
+ int32_t int32;
+};
+
+
+static inline void mavlink_start_checksum(mavlink_message_t* msg)
+{
+ union checksum_ ck;
+ crc_init(&(ck.s));
+ msg->ck_a = ck.c[0];
+ msg->ck_b = ck.c[1];
+}
+
+static inline void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
+{
+ union checksum_ ck;
+ ck.c[0] = msg->ck_a;
+ ck.c[1] = msg->ck_b;
+ crc_accumulate(c, &(ck.s));
+ msg->ck_a = ck.c[0];
+ msg->ck_b = ck.c[1];
+}
+
+/**
+ * This is a convenience function which handles the complete MAVLink parsing.
+ * the function will parse one byte at a time and return the complete packet once
+ * it could be successfully decoded. Checksum and other failures will be silently
+ * ignored.
+ *
+ * @param chan ID of the current channel. This allows to parse different channels with this function.
+ * a channel is not a physical message channel like a serial port, but a logic partition of
+ * the communication streams in this case. COMM_NB is the limit for the number of channels
+ * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
+ * @param c The char to barse
+ *
+ * @param returnMsg NULL if no message could be decoded, the message data else
+ * @return 0 if no message could be decoded, 1 else
+ *
+ * A typical use scenario of this function call is:
+ *
+ * @code
+ * #include <inttypes.h> // For fixed-width uint8_t type
+ *
+ * mavlink_message_t msg;
+ * int chan = 0;
+ *
+ *
+ * while(serial.bytesAvailable > 0)
+ * {
+ * uint8_t byte = serial.getNextByte();
+ * if (mavlink_parse_char(chan, byte, &msg))
+ * {
+ * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
+ * }
+ * }
+ *
+ *
+ * @endcode
+ */
+static inline uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
+{
+ static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
+
+ // Initializes only once, values keep unchanged after first initialization
+ mavlink_parse_state_initialize(mavlink_get_channel_status(chan));
+
+ mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
+ mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
+ int bufferIndex = 0;
+
+ status->msg_received = 0;
+
+ switch (status->parse_state)
+ {
+ case MAVLINK_PARSE_STATE_UNINIT:
+ case MAVLINK_PARSE_STATE_IDLE:
+ if (c == MAVLINK_STX)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+ mavlink_start_checksum(rxmsg);
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_STX:
+ if (status->msg_received)
+ {
+ status->buffer_overrun++;
+ status->parse_error++;
+ status->msg_received = 0;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ }
+ else
+ {
+ // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
+ rxmsg->len = c;
+ status->packet_idx = 0;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_LENGTH:
+ rxmsg->seq = c;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_SEQ:
+ rxmsg->sysid = c;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_SYSID:
+ rxmsg->compid = c;
+ mavlink_update_checksum(rxmsg, c);
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_COMPID:
+ rxmsg->msgid = c;
+ mavlink_update_checksum(rxmsg, c);
+ if (rxmsg->len == 0)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+ }
+ else
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_MSGID:
+ rxmsg->payload[status->packet_idx++] = c;
+ mavlink_update_checksum(rxmsg, c);
+ if (status->packet_idx == rxmsg->len)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
+ if (c != rxmsg->ck_a)
+ {
+ // Check first checksum byte
+ status->parse_error++;
+ status->msg_received = 0;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ if (c == MAVLINK_STX)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+ mavlink_start_checksum(rxmsg);
+ }
+ }
+ else
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
+ }
+ break;
+
+ case MAVLINK_PARSE_STATE_GOT_CRC1:
+ if (c != rxmsg->ck_b)
+ {// Check second checksum byte
+ status->parse_error++;
+ status->msg_received = 0;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ if (c == MAVLINK_STX)
+ {
+ status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+ mavlink_start_checksum(rxmsg);
+ }
+ }
+ else
+ {
+ // Successfully got message
+ status->msg_received = 1;
+ status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+ memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
+ }
+ break;
+ }
+
+ bufferIndex++;
+ // If a message has been sucessfully decoded, check index
+ if (status->msg_received == 1)
+ {
+ //while(status->current_seq != rxmsg->seq)
+ //{
+ // status->packet_rx_drop_count++;
+ // status->current_seq++;
+ //}
+ status->current_rx_seq = rxmsg->seq;
+ // Initial condition: If no packet has been received so far, drop count is undefined
+ if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
+ // Count this packet as received
+ status->packet_rx_success_count++;
+ }
+
+ r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
+ r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
+ r_mavlink_status->packet_rx_drop_count = status->parse_error;
+ status->parse_error = 0;
+ return status->msg_received;
+}
+
+
+/**
+ * This is a convenience function which handles the complete MAVLink parsing.
+ * the function will parse one byte at a time and return the complete packet once
+ * it could be successfully decoded. Checksum and other failures will be silently
+ * ignored.
+ *
+ * @param chan ID of the current channel. This allows to parse different channels with this function.
+ * a channel is not a physical message channel like a serial port, but a logic partition of
+ * the communication streams in this case. COMM_NB is the limit for the number of channels
+ * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
+ * @param c The char to barse
+ *
+ * @param returnMsg NULL if no message could be decoded, the message data else
+ * @return 0 if no message could be decoded, 1 else
+ *
+ * A typical use scenario of this function call is:
+ *
+ * @code
+ * #include <inttypes.h> // For fixed-width uint8_t type
+ *
+ * mavlink_message_t msg;
+ * int chan = 0;
+ *
+ *
+ * while(serial.bytesAvailable > 0)
+ * {
+ * uint8_t byte = serial.getNextByte();
+ * if (mavlink_parse_char(chan, byte, &msg))
+ * {
+ * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
+ * }
+ * }
+ *
+ *
+ * @endcode
+ */
+
+#define MAVLINK_PACKET_START_CANDIDATES 50
+/*
+static inline uint8_t mavlink_parse_char_new(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
+{
+ static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+ static uint8_t m_msgbuf[MAVLINK_COMM_NUM_BUFFERS][MAVLINK_MAX_PACKET_LEN * 2];
+ static uint8_t m_msgbuf_index[MAVLINK_COMM_NUM_BUFFERS];
+ static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
+ static uint8_t m_packet_start[MAVLINK_COMM_NUM_BUFFERS][MAVLINK_PACKET_START_CANDIDATES];
+ static uint8_t m_packet_start_index_read[MAVLINK_COMM_NUM_BUFFERS];
+ static uint8_t m_packet_start_index_write[MAVLINK_COMM_NUM_BUFFERS];
+
+ // Set a packet start candidate index if sign is start sign
+ if (c == MAVLINK_STX)
+ {
+ m_packet_start[chan][++(m_packet_start_index_write[chan]) % MAVLINK_PACKET_START_CANDIDATES] = m_msgbuf_index[chan];
+ }
+
+ // Parse normally, if a CRC mismatch occurs retry with the next packet index
+}
+// static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+// static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
+//// Initializes only once, values keep unchanged after first initialization
+// mavlink_parse_state_initialize(&m_mavlink_status[chan]);
+//
+//mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
+//mavlink_status_t* status = &m_mavlink_status[chan]; ///< The current decode status
+//int bufferIndex = 0;
+//
+//status->msg_received = 0;
+//
+//switch (status->parse_state)
+//{
+//case MAVLINK_PARSE_STATE_UNINIT:
+//case MAVLINK_PARSE_STATE_IDLE:
+// if (c == MAVLINK_STX)
+// {
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
+// mavlink_start_checksum(rxmsg);
+// }
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_STX:
+// if (status->msg_received)
+// {
+// status->buffer_overrun++;
+// status->parse_error++;
+// status->msg_received = 0;
+// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+// }
+// else
+// {
+// // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
+// rxmsg->len = c;
+// status->packet_idx = 0;
+// mavlink_update_checksum(rxmsg, c);
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
+// }
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_LENGTH:
+// rxmsg->seq = c;
+// mavlink_update_checksum(rxmsg, c);
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_SEQ:
+// rxmsg->sysid = c;
+// mavlink_update_checksum(rxmsg, c);
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_SYSID:
+// rxmsg->compid = c;
+// mavlink_update_checksum(rxmsg, c);
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_COMPID:
+// rxmsg->msgid = c;
+// mavlink_update_checksum(rxmsg, c);
+// if (rxmsg->len == 0)
+// {
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+// }
+// else
+// {
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
+// }
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_MSGID:
+// rxmsg->payload[status->packet_idx++] = c;
+// mavlink_update_checksum(rxmsg, c);
+// if (status->packet_idx == rxmsg->len)
+// {
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
+// }
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
+// if (c != rxmsg->ck_a)
+// {
+// // Check first checksum byte
+// status->parse_error++;
+// status->msg_received = 0;
+// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+// }
+// else
+// {
+// status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
+// }
+// break;
+//
+//case MAVLINK_PARSE_STATE_GOT_CRC1:
+// if (c != rxmsg->ck_b)
+// {// Check second checksum byte
+// status->parse_error++;
+// status->msg_received = 0;
+// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+// }
+// else
+// {
+// // Successfully got message
+// status->msg_received = 1;
+// status->parse_state = MAVLINK_PARSE_STATE_IDLE;
+// memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
+// }
+// break;
+//}
+
+bufferIndex++;
+// If a message has been sucessfully decoded, check index
+if (status->msg_received == 1)
+{
+ //while(status->current_seq != rxmsg->seq)
+ //{
+ // status->packet_rx_drop_count++;
+ // status->current_seq++;
+ //}
+ status->current_seq = rxmsg->seq;
+ // Initial condition: If no packet has been received so far, drop count is undefined
+ if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
+ // Count this packet as received
+ status->packet_rx_success_count++;
+}
+
+r_mavlink_status->current_seq = status->current_seq+1;
+r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
+r_mavlink_status->packet_rx_drop_count = status->parse_error;
+return status->msg_received;
+}
+ */
+
+
+typedef union __generic_16bit
+{
+ uint8_t b[2];
+ int16_t s;
+} generic_16bit;
+
+typedef union __generic_32bit
+{
+ uint8_t b[4];
+ float f;
+ int32_t i;
+ int16_t s;
+} generic_32bit;
+
+typedef union __generic_64bit
+{
+ uint8_t b[8];
+ int64_t ll; ///< Long long (64 bit)
+ double d; ///< IEEE-754 double precision floating point
+} generic_64bit;
+
+/**
+ * @brief Place an unsigned byte into the buffer
+ *
+ * @param b the byte to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_uint8_t_by_index(uint8_t b, uint8_t bindex, uint8_t* buffer)
+{
+ *(buffer + bindex) = b;
+ return sizeof(b);
+}
+
+/**
+ * @brief Place a signed byte into the buffer
+ *
+ * @param b the byte to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_int8_t_by_index(int8_t b, int8_t bindex, uint8_t* buffer)
+{
+ *(buffer + bindex) = (uint8_t)b;
+ return sizeof(b);
+}
+
+/**
+ * @brief Place two unsigned bytes into the buffer
+ *
+ * @param b the bytes to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_uint16_t_by_index(uint16_t b, const uint8_t bindex, uint8_t* buffer)
+{
+ buffer[bindex] = (b>>8)&0xff;
+ buffer[bindex+1] = (b & 0xff);
+ return sizeof(b);
+}
+
+/**
+ * @brief Place two signed bytes into the buffer
+ *
+ * @param b the bytes to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_int16_t_by_index(int16_t b, uint8_t bindex, uint8_t* buffer)
+{
+ return put_uint16_t_by_index(b, bindex, buffer);
+}
+
+/**
+ * @brief Place four unsigned bytes into the buffer
+ *
+ * @param b the bytes to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_uint32_t_by_index(uint32_t b, const uint8_t bindex, uint8_t* buffer)
+{
+ buffer[bindex] = (b>>24)&0xff;
+ buffer[bindex+1] = (b>>16)&0xff;
+ buffer[bindex+2] = (b>>8)&0xff;
+ buffer[bindex+3] = (b & 0xff);
+ return sizeof(b);
+}
+
+/**
+ * @brief Place four signed bytes into the buffer
+ *
+ * @param b the bytes to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_int32_t_by_index(int32_t b, uint8_t bindex, uint8_t* buffer)
+{
+ buffer[bindex] = (b>>24)&0xff;
+ buffer[bindex+1] = (b>>16)&0xff;
+ buffer[bindex+2] = (b>>8)&0xff;
+ buffer[bindex+3] = (b & 0xff);
+ return sizeof(b);
+}
+
+/**
+ * @brief Place four unsigned bytes into the buffer
+ *
+ * @param b the bytes to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_uint64_t_by_index(uint64_t b, const uint8_t bindex, uint8_t* buffer)
+{
+ buffer[bindex] = (b>>56)&0xff;
+ buffer[bindex+1] = (b>>48)&0xff;
+ buffer[bindex+2] = (b>>40)&0xff;
+ buffer[bindex+3] = (b>>32)&0xff;
+ buffer[bindex+4] = (b>>24)&0xff;
+ buffer[bindex+5] = (b>>16)&0xff;
+ buffer[bindex+6] = (b>>8)&0xff;
+ buffer[bindex+7] = (b & 0xff);
+ return sizeof(b);
+}
+
+/**
+ * @brief Place four signed bytes into the buffer
+ *
+ * @param b the bytes to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_int64_t_by_index(int64_t b, uint8_t bindex, uint8_t* buffer)
+{
+ return put_uint64_t_by_index(b, bindex, buffer);
+}
+
+/**
+ * @brief Place a float into the buffer
+ *
+ * @param b the float to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_float_by_index(float b, uint8_t bindex, uint8_t* buffer)
+{
+ generic_32bit g;
+ g.f = b;
+ return put_int32_t_by_index(g.i, bindex, buffer);
+}
+
+/**
+ * @brief Place a double into the buffer
+ *
+ * @param b the double to add
+ * @param bindex the position in the packet
+ * @param buffer the packet buffer
+ * @return the new position of the last used byte in the buffer
+ */
+static inline uint8_t put_double_by_index(double b, uint8_t bindex, uint8_t* buffer)
+{
+ generic_64bit g;
+ g.d = b;
+ return put_int64_t_by_index(g.ll, bindex, buffer);
+}
+
+/**
+ * @brief Place an array into the buffer
+ *
+ * @param b the array to add
+ * @param length size of the array (for strings: length WITH '\0' char)
+ * @param bindex the position in the packet
+ * @param buffer packet buffer
+ * @return new position of the last used byte in the buffer
+ */
+static inline uint8_t put_array_by_index(const int8_t* b, uint8_t length, uint8_t bindex, uint8_t* buffer)
+{
+ memcpy(buffer+bindex, b, length);
+ return length;
+}
+
+/**
+ * @brief Place a string into the buffer
+ *
+ * @param b the string to add
+ * @param maxlength size of the array (for strings: length WITHOUT '\0' char)
+ * @param bindex the position in the packet
+ * @param buffer packet buffer
+ * @return new position of the last used byte in the buffer
+ */
+static inline uint8_t put_string_by_index(const char* b, uint8_t maxlength, uint8_t bindex, uint8_t* buffer)
+{
+ uint16_t length = 0;
+ // Copy string into buffer, ensuring not to exceed the buffer size
+ int i;
+ for (i = 1; i < maxlength; i++)
+ {
+ length++;
+ // String characters
+ if (i < (maxlength - 1))
+ {
+ buffer[bindex+i] = b[i];
+ // Stop at null character
+ if (b[i] == '\0')
+ {
+ break;
+ }
+ }
+ // Enforce null termination at end of buffer
+ else if (i == (maxlength - 1))
+ {
+ buffer[i] = '\0';
+ }
+ }
+ // Write length into first field
+ put_uint8_t_by_index(length, bindex, buffer);
+ return length;
+}
+
+/**
+ * @brief Put a bitfield of length 1-32 bit into the buffer
+ *
+ * @param b the value to add, will be encoded in the bitfield
+ * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
+ * @param packet_index the position in the packet (the index of the first byte to use)
+ * @param bit_index the position in the byte (the index of the first bit to use)
+ * @param buffer packet buffer to write into
+ * @return new position of the last used byte in the buffer
+ */
+static inline uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
+{
+ uint16_t bits_remain = bits;
+ // Transform number into network order
+ generic_32bit bin;
+ generic_32bit bout;
+ uint8_t i_bit_index, i_byte_index, curr_bits_n;
+ bin.i = b;
+ bout.b[0] = bin.b[3];
+ bout.b[1] = bin.b[2];
+ bout.b[2] = bin.b[1];
+ bout.b[3] = bin.b[0];
+
+ // buffer in
+ // 01100000 01000000 00000000 11110001
+ // buffer out
+ // 11110001 00000000 01000000 01100000
+
+ // Existing partly filled byte (four free slots)
+ // 0111xxxx
+
+ // Mask n free bits
+ // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
+ // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
+
+ // Shift n bits into the right position
+ // out = in >> n;
+
+ // Mask and shift bytes
+ i_bit_index = bit_index;
+ i_byte_index = packet_index;
+ if (bit_index > 0)
+ {
+ // If bits were available at start, they were available
+ // in the byte before the current index
+ i_byte_index--;
+ }
+
+ // While bits have not been packed yet
+ while (bits_remain > 0)
+ {
+ // Bits still have to be packed
+ // there can be more than 8 bits, so
+ // we might have to pack them into more than one byte
+
+ // First pack everything we can into the current 'open' byte
+ //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
+ //FIXME
+ if (bits_remain <= (8 - i_bit_index))
+ {
+ // Enough space
+ curr_bits_n = bits_remain;
+ }
+ else
+ {
+ curr_bits_n = (8 - i_bit_index);
+ }
+
+ // Pack these n bits into the current byte
+ // Mask out whatever was at that position with ones (xxx11111)
+ buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
+ // Put content to this position, by masking out the non-used part
+ buffer[i_byte_index] |= ((0x00 << curr_bits_n) & bout.i);
+
+ // Increment the bit index
+ i_bit_index += curr_bits_n;
+
+ // Now proceed to the next byte, if necessary
+ bits_remain -= curr_bits_n;
+ if (bits_remain > 0)
+ {
+ // Offer another 8 bits / one byte
+ i_byte_index++;
+ i_bit_index = 0;
+ }
+ }
+
+ *r_bit_index = i_bit_index;
+ // If a partly filled byte is present, mark this as consumed
+ if (i_bit_index != 7) i_byte_index++;
+ return i_byte_index - packet_index;
+}
+
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+// To make MAVLink work on your MCU, define a similar function
+
+/*
+
+#include "mavlink_types.h"
+
+void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+ if (chan == MAVLINK_COMM_0)
+ {
+ uart0_transmit(ch);
+ }
+ if (chan == MAVLINK_COMM_1)
+ {
+ uart1_transmit(ch);
+ }
+}
+ */
+
+static inline void mavlink_send_uart_uint8_t(mavlink_channel_t chan, uint8_t b, uint16_t* checksum)
+{
+ crc_accumulate(b, checksum);
+ comm_send_ch(chan, b);
+}
+
+static inline void mavlink_send_uart_int8_t(mavlink_channel_t chan, int8_t b, uint16_t* checksum)
+{
+ crc_accumulate(b, checksum);
+ comm_send_ch(chan, b);
+}
+
+static inline void mavlink_send_uart_uint16_t(mavlink_channel_t chan, uint16_t b, uint16_t* checksum)
+{
+ char s;
+ s = (b>>8)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b & 0xff);
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+}
+
+static inline void mavlink_send_uart_int16_t(mavlink_channel_t chan, int16_t b, uint16_t* checksum)
+{
+ mavlink_send_uart_uint16_t(chan, b, checksum);
+}
+
+static inline void mavlink_send_uart_uint32_t(mavlink_channel_t chan, uint32_t b, uint16_t* checksum)
+{
+ char s;
+ s = (b>>24)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>16)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>8)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b & 0xff);
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+}
+
+static inline void mavlink_send_uart_int32_t(mavlink_channel_t chan, int32_t b, uint16_t* checksum)
+{
+ mavlink_send_uart_uint32_t(chan, b, checksum);
+}
+
+static inline void mavlink_send_uart_uint64_t(mavlink_channel_t chan, uint64_t b, uint16_t* checksum)
+{
+ char s;
+ s = (b>>56)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>48)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>40)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>32)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>24)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>16)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b>>8)&0xff;
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+ s = (b & 0xff);
+ comm_send_ch(chan, s);
+ crc_accumulate(s, checksum);
+}
+
+static inline void mavlink_send_uart_int64_t(mavlink_channel_t chan, int64_t b, uint16_t* checksum)
+{
+ mavlink_send_uart_uint64_t(chan, b, checksum);
+}
+
+static inline void mavlink_send_uart_float(mavlink_channel_t chan, float b, uint16_t* checksum)
+{
+ generic_32bit g;
+ g.f = b;
+ mavlink_send_uart_uint32_t(chan, g.i, checksum);
+}
+
+static inline void mavlink_send_uart_double(mavlink_channel_t chan, double b, uint16_t* checksum)
+{
+ generic_64bit g;
+ g.d = b;
+ mavlink_send_uart_uint32_t(chan, g.ll, checksum);
+}
+
+static inline void mavlink_send_uart(mavlink_channel_t chan, mavlink_message_t* msg)
+{
+ // ARM7 MCU board implementation
+ // Create pointer on message struct
+ // Send STX
+ comm_send_ch(chan, MAVLINK_STX);
+ comm_send_ch(chan, msg->len);
+ comm_send_ch(chan, msg->seq);
+ comm_send_ch(chan, msg->sysid);
+ comm_send_ch(chan, msg->compid);
+ comm_send_ch(chan, msg->msgid);
+ for(uint16_t i = 0; i < msg->len; i++)
+ {
+ comm_send_ch(chan, msg->payload[i]);
+ }
+ comm_send_ch(chan, msg->ck_a);
+ comm_send_ch(chan, msg->ck_b);
+}
+#endif
+
+#endif /* _MAVLINK_PROTOCOL_H_ */