switch mavlink library

Arduino_libraries/GCS_MAVLink/GCS_MAVLink.cpp

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	GCS_MAVLink.cpp
+
+/*
+This provides some support code and variables for MAVLink enabled sketches
+
+This firmware is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+*/
+
+//#include <FastSerial.h>
+//#include <AP_Common.h>
+#include <GCS_MAVLink.h>
+
+
+Stream	*mavlink_comm_0_port;
+Stream	*mavlink_comm_1_port;
+
+mavlink_system_t mavlink_system = {12,1,0,0}; //modified
+
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
+{
+    if (sysid != mavlink_system.sysid)
+        return 1;
+    // Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
+    // If it is addressed to our system ID we assume it is for us
+    return 0; // no error
+}
+
+/*
+// return a MAVLink variable type given a AP_Param type
+uint8_t mav_var_type(enum ap_var_type t)
+{
+    if (t == AP_PARAM_INT8) {
+	    return MAVLINK_TYPE_INT8_T;
+    }
+    if (t == AP_PARAM_INT16) {
+	    return MAVLINK_TYPE_INT16_T;
+    }
+    if (t == AP_PARAM_INT32) {
+	    return MAVLINK_TYPE_INT32_T;
+    }
+    // treat any others as float
+    return MAVLINK_TYPE_FLOAT;
+}
+
+*/

Arduino_libraries/GCS_MAVLink/GCS_MAVLink.h

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	GCS_MAVLink.h
+/// @brief	One size fits all header for MAVLink integration.
+
+#ifndef GCS_MAVLink_h
+#define GCS_MAVLink_h
+
+#include <Stream.h>
+
+
+//#include <BetterStream.h>
+
+// we have separate helpers disabled to make it possible
+// to select MAVLink 1.0 in the arduino GUI build
+//#define MAVLINK_SEPARATE_HELPERS
+
+#include "include/mavlink/v1.0/ardupilotmega/version.h"
+
+// this allows us to make mavlink_message_t much smaller
+#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
+
+#define MAVLINK_COMM_NUM_BUFFERS 1
+#include "include/mavlink/v1.0/mavlink_types.h"
+
+/// MAVLink stream used for HIL interaction
+extern Stream	*mavlink_comm_0_port;
+
+/// MAVLink stream used for ground control communication
+extern Stream	*mavlink_comm_1_port;
+
+/// MAVLink system definition
+extern mavlink_system_t mavlink_system;
+
+/// Send a byte to the nominated MAVLink channel
+///
+/// @param chan		Channel to send to
+/// @param ch		Byte to send
+///
+static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
+{
+    switch(chan) {
+	case MAVLINK_COMM_0:
+		mavlink_comm_0_port->write(ch);
+		break;
+	case MAVLINK_COMM_1:
+		mavlink_comm_1_port->write(ch);
+		break;
+	default:
+		break;
+	}
+}
+
+/// Read a byte from the nominated MAVLink channel
+///
+/// @param chan		Channel to receive on
+/// @returns		Byte read
+///
+static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
+{
+    uint8_t data = 0;
+
+    switch(chan) {
+	case MAVLINK_COMM_0:
+		data = mavlink_comm_0_port->read();
+		break;
+	case MAVLINK_COMM_1:
+		data = mavlink_comm_1_port->read();
+		break;
+	default:
+		break;
+	}
+    return data;
+}
+
+/// Check for available data on the nominated MAVLink channel
+///
+/// @param chan		Channel to check
+/// @returns		Number of bytes available
+static inline uint16_t comm_get_available(mavlink_channel_t chan)
+{
+    uint16_t bytes = 0;
+    switch(chan) {
+	case MAVLINK_COMM_0:
+		bytes = mavlink_comm_0_port->available();
+		break;
+	case MAVLINK_COMM_1:
+		bytes = mavlink_comm_1_port->available();
+		break;
+	default:
+		break;
+	}
+    return bytes;
+}
+
+
+/// Check for available transmit space on the nominated MAVLink channel
+///
+/// @param chan		Channel to check
+/// @returns		Number of bytes available, -1 for error
+static inline int comm_get_txspace(mavlink_channel_t chan)
+{
+    switch(chan) {
+	case MAVLINK_COMM_0:
+		// return mavlink_comm_0_port->txspace();
+		return 65535;
+		break;
+	case MAVLINK_COMM_1:
+		//return mavlink_comm_1_port->txspace();
+		return 65535;
+		break;
+	default:
+		break;
+	}
+    return -1;
+}
+
+#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
+
+uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
+
+// return a MAVLink variable type given a AP_Param type
+//uint8_t mav_var_type(enum ap_var_type t);
+
+#endif // GCS_MAVLink_h

Arduino_libraries/GCS_MAVLink/generate.sh

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+#!/bin/sh
+# script to re-generate mavlink C code for APM
+
+mavdir="$(dirname $0)"
+dname="$(basename $mavdir)"
+[ "$dname" = "GCS_MAVLink" ] || {
+    echo "This script should be run from the libraries/GCS_MAVLink directory"
+    exit 1
+}
+
+if ! which mavgen.py > /dev/null; then
+    echo "mavgen.py must be in your PATH. Get it from http://github.com/mavlink/mavlink in the pymavlink/generator directory"
+    exit 1
+fi
+
+echo "Removing old includes"
+rm -rf "$mavdir/include/*"
+
+echo "Generating C code"
+mavgen.py --lang=C --wire-protocol=1.0 --output=$mavdir/include/mavlink/v1.0 $mavdir/message_definitions/ardupilotmega.xml