jevois_mavlink.h

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/*
 * Copyright (C) MAVLab
 *
 * 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, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef JEVOIS_MAVLINK_H
#define JEVOIS_MAVLINK_H
 
 
 
 
/*
 * Paparazzi UART over USB
 */
 
#include "mcu_periph/uart.h"
 
#ifndef JEVOIS_DEV
#define JEVOIS_DEV uart2
#endif
 
#define MAVLinkDev (&(JEVOIS_DEV).device)
#define MAVLinkTransmit(c) MAVLinkDev->put_byte(MAVLinkDev->periph, 0, c)
#define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
#define MAVLinkGetch() MAVLinkDev->get_byte(MAVLinkDev->periph)
#define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph, 0)
 
 
 
 
/*
 * MavLink protocol
 */
 
#include <mavlink/mavlink_types.h>
 
 
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_ALIGNED_FIELDS 0
 
extern mavlink_system_t mavlink_system;
 
static inline void comm_send_ch(mavlink_channel_t chan __attribute__((unused)), uint8_t ch)
{
  // Send bytes
  MAVLinkTransmit(ch);
}
 
 
 
 
 
/*
 * Paparazzi Module functions
 */
 
 
extern void jevois_mavlink_init(void);
extern void jevois_mavlink_periodic(void);
extern void jevois_mavlink_filter_periodic(void);
extern void jevois_mavlink_event(void);
 
 
 
 
 
 
 
 
 
 
#endif