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420c60e Jul 26, 2018
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#pragma once
// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
#if (defined _MSC_VER) && (_MSC_VER < 1600)
#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
#endif
#include <stdbool.h>
#include <stdint.h>
#ifdef MAVLINK_USE_CXX_NAMESPACE
namespace mavlink {
#endif
// Macro to define packed structures
#ifdef __GNUC__
#define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
#else
#define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
#endif
#ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
#endif
#define MAVLINK_CORE_HEADER_LEN 9 ///< Length of core header (of the comm. layer)
#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 ///< Length of MAVLink1 core header (of the comm. layer)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and stx
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_SIGNATURE_BLOCK_LEN 13
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) ///< Maximum packet length
/**
* Old-style 4 byte param union
*
* This struct is the data format to be used when sending
* parameters. The parameter should be copied to the native
* type (without type conversion)
* and re-instanted on the receiving side using the
* native type as well.
*/
MAVPACKED(
typedef struct param_union {
union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
int16_t param_int16;
uint16_t param_uint16;
int8_t param_int8;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
}) mavlink_param_union_t;
/**
* New-style 8 byte param union
* 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.
* The mavlink_param_union_double_t will be treated as a little-endian structure.
*
* 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.
* 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
* lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union.
* The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above,
* as bitfield ordering isn’t consistent between platforms. The above is intended to be for gcc on x86,
* 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,
* and the bits pulled out using the shifts/masks.
*/
MAVPACKED(
typedef struct param_union_extended {
union {
struct {
uint8_t is_double:1;
uint8_t mavlink_type:7;
union {
char c;
uint8_t uint8;
int8_t int8;
uint16_t uint16;
int16_t int16;
uint32_t uint32;
int32_t int32;
float f;
uint8_t align[7];
};
};
uint8_t data[8];
};
}) mavlink_param_union_double_t;
/**
* This structure is required to make the mavlink_send_xxx convenience functions
* work, as it tells the library what the current system and component ID are.
*/
MAVPACKED(
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
}) mavlink_system_t;
MAVPACKED(
typedef struct __mavlink_message {
uint16_t checksum; ///< sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t incompat_flags; ///< flags that must be understood
uint8_t compat_flags; ///< flags that can be ignored if not understood
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint32_t msgid:24; ///< ID of message in payload
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
uint8_t ck[2]; ///< incoming checksum bytes
uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];
}) mavlink_message_t;
typedef enum {
MAVLINK_TYPE_CHAR = 0,
MAVLINK_TYPE_UINT8_T = 1,
MAVLINK_TYPE_INT8_T = 2,
MAVLINK_TYPE_UINT16_T = 3,
MAVLINK_TYPE_INT16_T = 4,
MAVLINK_TYPE_UINT32_T = 5,
MAVLINK_TYPE_INT32_T = 6,
MAVLINK_TYPE_UINT64_T = 7,
MAVLINK_TYPE_INT64_T = 8,
MAVLINK_TYPE_FLOAT = 9,
MAVLINK_TYPE_DOUBLE = 10
} mavlink_message_type_t;
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
typedef struct __mavlink_message_info {
uint32_t msgid; // message ID
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
#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))
typedef enum {
MAVLINK_COMM_0,
MAVLINK_COMM_1,
MAVLINK_COMM_2,
MAVLINK_COMM_3
} mavlink_channel_t;
/*
* applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
* of buffers they will use. If more are used, then the result will be
* a stack overrun
*/
#ifndef MAVLINK_COMM_NUM_BUFFERS
#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
# define MAVLINK_COMM_NUM_BUFFERS 16
#else
# define MAVLINK_COMM_NUM_BUFFERS 4
#endif
#endif
typedef enum {
MAVLINK_PARSE_STATE_UNINIT=0,
MAVLINK_PARSE_STATE_IDLE,
MAVLINK_PARSE_STATE_GOT_STX,
MAVLINK_PARSE_STATE_GOT_LENGTH,
MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS,
MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS,
MAVLINK_PARSE_STATE_GOT_SEQ,
MAVLINK_PARSE_STATE_GOT_SYSID,
MAVLINK_PARSE_STATE_GOT_COMPID,
MAVLINK_PARSE_STATE_GOT_MSGID1,
MAVLINK_PARSE_STATE_GOT_MSGID2,
MAVLINK_PARSE_STATE_GOT_MSGID3,
MAVLINK_PARSE_STATE_GOT_PAYLOAD,
MAVLINK_PARSE_STATE_GOT_CRC1,
MAVLINK_PARSE_STATE_GOT_BAD_CRC1,
MAVLINK_PARSE_STATE_SIGNATURE_WAIT
} mavlink_parse_state_t; ///< The state machine for the comm parser
typedef enum {
MAVLINK_FRAMING_INCOMPLETE=0,
MAVLINK_FRAMING_OK=1,
MAVLINK_FRAMING_BAD_CRC=2,
MAVLINK_FRAMING_BAD_SIGNATURE=3
} mavlink_framing_t;
#define MAVLINK_STATUS_FLAG_IN_MAVLINK1 1 // last incoming packet was MAVLink1
#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default
#define MAVLINK_STATUS_FLAG_IN_SIGNED 4 // last incoming packet was signed and validated
#define MAVLINK_STATUS_FLAG_IN_BADSIG 8 // last incoming packet had a bad signature
#define MAVLINK_STX_MAVLINK1 0xFE // marker for old protocol
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
uint8_t flags; ///< MAVLINK_STATUS_FLAG_*
uint8_t signature_wait; ///< number of signature bytes left to receive
struct __mavlink_signing *signing; ///< optional signing state
struct __mavlink_signing_streams *signing_streams; ///< global record of stream timestamps
} mavlink_status_t;
/*
a callback function to allow for accepting unsigned packets
*/
typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32_t msgid);
/*
flags controlling signing
*/
#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1 ///< Enable outgoing signing
/*
state of MAVLink signing for this channel
*/
typedef struct __mavlink_signing {
uint8_t flags; ///< MAVLINK_SIGNING_FLAG_*
uint8_t link_id; ///< Same as MAVLINK_CHANNEL
uint64_t timestamp; ///< Timestamp, in microseconds since UNIX epoch GMT
uint8_t secret_key[32];
mavlink_accept_unsigned_t accept_unsigned_callback;
} mavlink_signing_t;
/*
timestamp state of each logical signing stream. This needs to be the same structure for all
connections in order to be secure
*/
#ifndef MAVLINK_MAX_SIGNING_STREAMS
#define MAVLINK_MAX_SIGNING_STREAMS 16
#endif
typedef struct __mavlink_signing_streams {
uint16_t num_signing_streams;
struct __mavlink_signing_stream {
uint8_t link_id; ///< ID of the link (MAVLINK_CHANNEL)
uint8_t sysid; ///< Remote system ID
uint8_t compid; ///< Remote component ID
uint8_t timestamp_bytes[6]; ///< Timestamp, in microseconds since UNIX epoch GMT
} stream[MAVLINK_MAX_SIGNING_STREAMS];
} mavlink_signing_streams_t;
#define MAVLINK_BIG_ENDIAN 0
#define MAVLINK_LITTLE_ENDIAN 1
#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM 1
#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT 2
/*
entry in table of information about each message type
*/
typedef struct __mavlink_msg_entry {
uint32_t msgid;
uint8_t crc_extra;
uint8_t msg_len;
uint8_t flags; // MAV_MSG_ENTRY_FLAG_*
uint8_t target_system_ofs; // payload offset to target_system, or 0
uint8_t target_component_ofs; // payload offset to target_component, or 0
} mavlink_msg_entry_t;
/*
incompat_flags bits
*/
#define MAVLINK_IFLAG_SIGNED 0x01
#define MAVLINK_IFLAG_MASK 0x01 // mask of all understood bits
#ifdef MAVLINK_USE_CXX_NAMESPACE
} // namespace mavlink
#endif