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.
 *
 */
 
#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 || USE_USB_SERIAL_DEBUG
#include "mcu_periph/usb_serial.h"
#endif
#include "mcu_periph/uart.h"
 
#ifndef MAVLINK_DEBUG
#define MAVLINK_DEBUG(...) {}
#endif
 
#if MAVLINK_DEBUG == printf
#include <stdio.h>
#endif
 
/*
 * 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, 0, c)
#define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
#define MAVLinkGetch() MAVLinkDev->get_byte(MAVLinkDev->periph)
#define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph, 0)
 
void mavlink_init(void);
void mavlink_periodic(void);
void mavlink_periodic_telemetry(void);
void mavlink_event(void);
 
static inline void comm_send_ch(mavlink_channel_t chan __attribute__((unused)), uint8_t ch)
{
  // Send bytes
  MAVLinkTransmit(ch);
}
 
#endif // DATALINK_MAVLINK_H