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mavlink.h
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mavlink.h
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/*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** @file modules/datalink/mavlink.h
* @brief Basic MAVLink datalink implementation
*/
#ifndef DATALINK_MAVLINK_H
#define DATALINK_MAVLINK_H
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_ALIGNED_FIELDS 0
#include <mavlink/mavlink_types.h>
#if USE_UDP
#include "mcu_periph/udp.h"
#endif
#if USE_USB_SERIAL
#include "mcu_periph/usb_serial.h"
#endif
#include "mcu_periph/uart.h"
/*
* MAVLink description before main MAVLink include
*/
extern mavlink_system_t mavlink_system;
#ifndef MAVLINK_DEV
#define MAVLINK_DEV uart1
#endif
/*
* The MAVLink link description
*/
#define MAVLinkDev (&(MAVLINK_DEV).device)
#define MAVLinkTransmit(c) MAVLinkDev->put_byte(MAVLinkDev->periph, c)
#define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
#define MAVLinkGetch() MAVLinkDev->get_byte(MAVLinkDev->periph)
#define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph)
/**
* Module functions
*/
void mavlink_init(void);
void mavlink_periodic(void);
void mavlink_event(void);
/**
* @brief Send one char (uint8_t) over a comm channel
*
* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
* @param ch Character to send
*/
static inline void comm_send_ch(mavlink_channel_t chan __attribute__((unused)), uint8_t ch)
{
// Send bytes
MAVLinkTransmit(ch);
}
#endif // DATALINK_MAVLINK_H