protocol.h File Reference

#include "string.h"
#include "mavlink_types.h"
#include "mavlink_helpers.h"

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Macros
#define	MAVLINK_NEED_BYTE_SWAP   (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
#define	MAVLINK_STACK_BUFFER   0
#define	MAVLINK_AVOID_GCC_STACK_BUG   defined(__GNUC__)
#define	MAVLINK_ASSERT(x)
#define	MAVLINK_START_UART_SEND(chan, length)
#define	MAVLINK_END_UART_SEND(chan, length)
#define	MAVLINK_HELPER   static inline
#define	_mav_put_uint8_t(buf, wire_offset, b)   buf[wire_offset] = (uint8_t)b
#define	_mav_put_int8_t(buf, wire_offset, b)   buf[wire_offset] = (int8_t)b
#define	_mav_put_char(buf, wire_offset, b)   buf[wire_offset] = b
#define	_mav_put_uint16_t(buf, wire_offset, b)   byte_swap_2(&buf[wire_offset], (const char *)&b)
#define	_mav_put_int16_t(buf, wire_offset, b)   byte_swap_2(&buf[wire_offset], (const char *)&b)
#define	_mav_put_uint32_t(buf, wire_offset, b)   byte_swap_4(&buf[wire_offset], (const char *)&b)
#define	_mav_put_int32_t(buf, wire_offset, b)   byte_swap_4(&buf[wire_offset], (const char *)&b)
#define	_mav_put_uint64_t(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
#define	_mav_put_int64_t(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
#define	_mav_put_float(buf, wire_offset, b)   byte_swap_4(&buf[wire_offset], (const char *)&b)
#define	_mav_put_double(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
#define	_MAV_PUT_ARRAY(TYPE, V)
#define	_MAV_RETURN_char(msg, wire_offset)   (const char)_MAV_PAYLOAD(msg)[wire_offset]
#define	_MAV_RETURN_int8_t(msg, wire_offset)   (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define	_MAV_RETURN_uint8_t(msg, wire_offset)   (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define	_MAV_MSG_RETURN_TYPE(TYPE, SIZE)
#define	_MAV_RETURN_ARRAY(TYPE, V)

Macro Definition Documentation

#define _MAV_MSG_RETURN_TYPE	(		TYPE,
			SIZE
	)

Value:

static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }

#define _MAV_PUT_ARRAY	(		TYPE,
			V
	)

Value:

static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
{ \
    if (b == NULL) { \
        memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
    } else { \
        uint16_t i; \
        for (i=0; i<array_length; i++) { \
            _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
        } \
    } \
}

#define _mav_put_char	(		buf,
			wire_offset,
			b
	)		buf[wire_offset] = b

#define _mav_put_double	(		buf,
			wire_offset,
			b
	)		byte_swap_8(&buf[wire_offset], (const char *)&b)

#define _mav_put_float	(		buf,
			wire_offset,
			b
	)		byte_swap_4(&buf[wire_offset], (const char *)&b)

#define _mav_put_int16_t	(		buf,
			wire_offset,
			b
	)		byte_swap_2(&buf[wire_offset], (const char *)&b)

#define _mav_put_int32_t	(		buf,
			wire_offset,
			b
	)		byte_swap_4(&buf[wire_offset], (const char *)&b)

#define _mav_put_int64_t	(		buf,
			wire_offset,
			b
	)		byte_swap_8(&buf[wire_offset], (const char *)&b)

#define _mav_put_int8_t	(		buf,
			wire_offset,
			b
	)		buf[wire_offset] = (int8_t)b

#define _mav_put_uint16_t	(		buf,
			wire_offset,
			b
	)		byte_swap_2(&buf[wire_offset], (const char *)&b)

#define _mav_put_uint32_t	(		buf,
			wire_offset,
			b
	)		byte_swap_4(&buf[wire_offset], (const char *)&b)

#define _mav_put_uint64_t	(		buf,
			wire_offset,
			b
	)		byte_swap_8(&buf[wire_offset], (const char *)&b)

#define _mav_put_uint8_t	(		buf,
			wire_offset,
			b
	)		buf[wire_offset] = (uint8_t)b

#define _MAV_RETURN_ARRAY	(		TYPE,
			V
	)

Value:

static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
                             uint8_t array_length, uint8_t wire_offset) \
{ \
    uint16_t i; \
    for (i=0; i<array_length; i++) { \
        value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
    } \
    return array_length*sizeof(value[0]); \
}

#define _MAV_RETURN_char	(		msg,
			wire_offset
	)		(const char)_MAV_PAYLOAD(msg)[wire_offset]

#define _MAV_RETURN_int8_t	(		msg,
			wire_offset
	)		(const int8_t)_MAV_PAYLOAD(msg)[wire_offset]

#define _MAV_RETURN_uint8_t	(		msg,
			wire_offset
	)		(const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]

#define MAVLINK_ASSERT

(

x

)

#define MAVLINK_AVOID_GCC_STACK_BUG   defined(__GNUC__)

#define MAVLINK_END_UART_SEND	(		chan,
			length
	)

#define MAVLINK_HELPER   static inline

#define MAVLINK_NEED_BYTE_SWAP   (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)

#define MAVLINK_STACK_BUFFER   0

#define MAVLINK_START_UART_SEND	(		chan,
			length
	)