NinjaFlight
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Groups Pages
mavlink_helpers.h File Reference
#include "string.h"
#include "checksum.h"
#include "mavlink_types.h"
#include "mavlink_conversions.h"
Include dependency graph for mavlink_helpers.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

union  __mavlink_bitfield
 

Macros

#define MAVLINK_HELPER
 

Functions

MAVLINK_HELPER mavlink_status_tmavlink_get_channel_status (uint8_t chan)
 
MAVLINK_HELPER mavlink_message_t * mavlink_get_channel_buffer (uint8_t chan)
 
MAVLINK_HELPER void mavlink_reset_channel_status (uint8_t chan)
 Reset the status of a channel. More...
 
MAVLINK_HELPER uint16_t mavlink_finalize_message_chan (mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t chan, uint8_t length)
 Finalize a MAVLink message with channel assignment. More...
 
MAVLINK_HELPER uint16_t mavlink_finalize_message (mavlink_message_t *msg, uint8_t system_id, uint8_t component_id, uint8_t length)
 Finalize a MAVLink message with MAVLINK_COMM_0 as default channel. More...
 
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer (uint8_t *buffer, const mavlink_message_t *msg)
 Pack a message to send it over a serial byte stream. More...
 
MAVLINK_HELPER void mavlink_start_checksum (mavlink_message_t *msg)
 
MAVLINK_HELPER void mavlink_update_checksum (mavlink_message_t *msg, uint8_t c)
 
MAVLINK_HELPER uint8_t mavlink_parse_char (uint8_t chan, uint8_t c, mavlink_message_t *r_message, mavlink_status_t *r_mavlink_status)
 
MAVLINK_HELPER 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)
 Put a bitfield of length 1-32 bit into the buffer. More...
 

Macro Definition Documentation

#define MAVLINK_HELPER

Function Documentation

MAVLINK_HELPER uint16_t mavlink_finalize_message ( mavlink_message_t *  msg,
uint8_t  system_id,
uint8_t  component_id,
uint8_t  length 
)

Finalize a MAVLink message with MAVLINK_COMM_0 as default channel.

Here is the call graph for this function:

MAVLINK_HELPER uint16_t mavlink_finalize_message_chan ( mavlink_message_t *  msg,
uint8_t  system_id,
uint8_t  component_id,
uint8_t  chan,
uint8_t  length 
)

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.

Parameters
msgMessage to finalize
system_idId of the sending (this) system, 1-127
lengthMessage length

Here is the call graph for this function:

MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer ( uint8_t  chan)
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status ( uint8_t  chan)
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer ( uint8_t *  buffer,
const mavlink_message_t *  msg 
)

Pack a message to send it over a serial byte stream.

MAVLINK_HELPER uint8_t mavlink_parse_char ( uint8_t  chan,
uint8_t  c,
mavlink_message_t *  r_message,
mavlink_status_t r_mavlink_status 
)

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.

Messages are parsed into an internal buffer (one for each channel). When a complete message is received it is copies into *returnMsg and the channel's status is copied into *returnStats.

Parameters
chanID 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
cThe char to parse
returnMsgNULL if no message could be decoded, the message data else
returnStatsif a message was decoded, this is filled with the channel's stats
Returns
0 if no message could be decoded, 1 else

A typical use scenario of this function call is:

#include <mavlink.h>
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);
}
}

< The currently decoded message

< The current decode status

Here is the call graph for this function:

MAVLINK_HELPER void mavlink_reset_channel_status ( uint8_t  chan)

Reset the status of a channel.

Here is the call graph for this function:

MAVLINK_HELPER void mavlink_start_checksum ( mavlink_message_t *  msg)
MAVLINK_HELPER void mavlink_update_checksum ( mavlink_message_t *  msg,
uint8_t  c 
)
MAVLINK_HELPER 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 
)

Put a bitfield of length 1-32 bit into the buffer.

Parameters
bthe value to add, will be encoded in the bitfield
bitsnumber of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
packet_indexthe position in the packet (the index of the first byte to use)
bit_indexthe position in the byte (the index of the first bit to use)
bufferpacket buffer to write into
Returns
new position of the last used byte in the buffer