mavlink_decoder.h File Reference

simple decoder of mavlink message More...

#include "std.h"
#include "pprzlink/pprzlink_transport.h"
#include "mcu_periph/uart.h"

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Data Structures
struct	mavlink_message
	Mavlink v1.0 message structure. More...
struct	mavlink_msg_req
	Structure to submit a callback. More...
struct	mavlink_transport
	Mavlink transport protocol. More...

Macros
#define	STXMAV   0xFE
#define	MAVLINK_PAYLOAD_OFFSET   4
#define	MAVLINK_SEQ_IDX   0
#define	MAVLINK_SYS_ID_IDX   1
#define	MAVLINK_COMP_ID_IDX   2
#define	MAVLINK_MSG_ID_IDX   3
#define	X25_INIT_CRC   0xffff
	MAVLINK CHECKSUM. More...
#define	MavlinkDatalinkEvent()   mavlink_check_and_parse(&(MAVLINK_UART).device, &mavlink_tp)

Enumerations
enum	mavlink_parse_state {   MAVLINK_PARSE_STATE_UNINIT = 0 , MAVLINK_PARSE_STATE_IDLE , MAVLINK_PARSE_STATE_GOT_STX , MAVLINK_PARSE_STATE_GOT_LENGTH ,   MAVLINK_PARSE_STATE_GOT_PAYLOAD , MAVLINK_PARSE_STATE_GOT_CRC1 }
	Receiving mavlink messages. More...

Functions
static void	mavlink_crc_accumulate (uint8_t data, uint16_t *crcAccum)
	Accumulate the X.25 CRC by adding one char at a time. More...
static void	mavlink_crc_init (uint16_t *crcAccum)
	Initiliaze the buffer for the X.25 CRC. More...
static uint16_t	mavlink_crc_calculate (const uint8_t *pBuffer, uint16_t length)
	Calculates the X.25 checksum on a byte buffer. More...
static void	mavlink_register_msg (struct mavlink_transport *t, struct mavlink_msg_req *req)
	Register a callback for a mavlink message. More...
static void	parse_mavlink (struct mavlink_transport *t, uint8_t c)
	Mavlink character parser. More...
static void	mavlink_parse_payload (struct mavlink_transport *t)
static void	mavlink_check_and_parse (struct link_device *dev, struct mavlink_transport *trans)

Variables
uint8_t	mavlink_crc_extra [256]
struct mavlink_transport	mavlink_tp

Detailed Description

simple decoder of mavlink message

Definition in file mavlink_decoder.h.

---

Data Structure Documentation

mavlink_message

struct mavlink_message

Mavlink v1.0 message structure.

Mavlink Msg: STXMAV + len + { packet_seq + SYS/ID + COMPONENT/ID + MSG/ID + Payload } + ck_a + ck_b

Payload starts after 4 bytes.

Definition at line 48 of file mavlink_decoder.h.

Data Fields
uint8_t	comp_id
uint8_t	msg_id
uint8_t *	payload
uint8_t	seq
uint8_t	sys_id

mavlink_transport

struct mavlink_transport

Mavlink transport protocol.

Definition at line 140 of file mavlink_decoder.h.

Collaboration diagram for mavlink_transport:

Data Fields
uint16_t	checksum
uint8_t	payload_idx
struct mavlink_msg_req *	req
mavlink_parse_state	status
struct transport_rx	trans

Macro Definition Documentation

MAVLINK_COMP_ID_IDX

#define MAVLINK_COMP_ID_IDX   2

Definition at line 60 of file mavlink_decoder.h.

MAVLINK_MSG_ID_IDX

#define MAVLINK_MSG_ID_IDX   3

Definition at line 61 of file mavlink_decoder.h.

MAVLINK_PAYLOAD_OFFSET

#define MAVLINK_PAYLOAD_OFFSET   4

Definition at line 56 of file mavlink_decoder.h.

MAVLINK_SEQ_IDX

#define MAVLINK_SEQ_IDX   0

Definition at line 58 of file mavlink_decoder.h.

MAVLINK_SYS_ID_IDX

#define MAVLINK_SYS_ID_IDX   1

Definition at line 59 of file mavlink_decoder.h.

MavlinkDatalinkEvent

#define MavlinkDatalinkEvent

(

)

mavlink_check_and_parse(&(MAVLINK_UART).device, &mavlink_tp)

Definition at line 268 of file mavlink_decoder.h.

STXMAV

#define STXMAV   0xFE

Definition at line 38 of file mavlink_decoder.h.

X25_INIT_CRC

#define X25_INIT_CRC   0xffff

MAVLINK CHECKSUM.

Definition at line 64 of file mavlink_decoder.h.

Enumeration Type Documentation

mavlink_parse_state

enum mavlink_parse_state

Receiving mavlink messages.

Enumerator
MAVLINK_PARSE_STATE_UNINIT
MAVLINK_PARSE_STATE_IDLE
MAVLINK_PARSE_STATE_GOT_STX
MAVLINK_PARSE_STATE_GOT_LENGTH
MAVLINK_PARSE_STATE_GOT_PAYLOAD
MAVLINK_PARSE_STATE_GOT_CRC1

Definition at line 120 of file mavlink_decoder.h.

Function Documentation

mavlink_check_and_parse()

static void mavlink_check_and_parse ( struct link_device *  dev, struct mavlink_transport *  trans  )

inlinestatic

Definition at line 254 of file mavlink_decoder.h.

References dev, mavlink_parse_payload(), parse_mavlink(), and mavlink_transport::trans.

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mavlink_crc_accumulate()

static void mavlink_crc_accumulate ( uint8_t  data, uint16_t *  crcAccum  )

inlinestatic

Accumulate the X.25 CRC by adding one char at a time.

The checksum function adds the hash of one char at a time to the 16 bit checksum (uint16_t).

Parameters

data	new char to hash
crcAccum	the already accumulated checksum

Definition at line 80 of file mavlink_decoder.h.

Referenced by mavlink_crc_calculate(), and parse_mavlink().

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mavlink_crc_calculate()

static uint16_t mavlink_crc_calculate ( const uint8_t *  pBuffer, uint16_t  length  )

inlinestatic

Calculates the X.25 checksum on a byte buffer.

Parameters

pBuffer	buffer containing the byte array to hash
length	length of the byte array

Returns

the checksum over the buffer bytes

Definition at line 107 of file mavlink_decoder.h.

References mavlink_crc_accumulate(), and mavlink_crc_init().

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mavlink_crc_init()

static void mavlink_crc_init ( uint16_t *  crcAccum )

inlinestatic

Initiliaze the buffer for the X.25 CRC.

Parameters

crcAccum

the 16 bit X.25 CRC

Definition at line 95 of file mavlink_decoder.h.

References X25_INIT_CRC.

Referenced by mavlink_crc_calculate(), and parse_mavlink().

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mavlink_parse_payload()

static void mavlink_parse_payload ( struct mavlink_transport *  t )

inlinestatic

Definition at line 232 of file mavlink_decoder.h.

References mavlink_msg_req::callback, mavlink_message::comp_id, MAVLINK_COMP_ID_IDX, MAVLINK_MSG_ID_IDX, MAVLINK_PAYLOAD_OFFSET, MAVLINK_SEQ_IDX, MAVLINK_SYS_ID_IDX, mavlink_msg_req::msg, mavlink_message::msg_id, mavlink_msg_req::msg_id, mavlink_msg_req::next, mavlink_message::payload, mavlink_transport::req, mavlink_message::seq, mavlink_message::sys_id, and mavlink_transport::trans.

Referenced by mavlink_check_and_parse().

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mavlink_register_msg()

static void mavlink_register_msg ( struct mavlink_transport *  t, struct mavlink_msg_req *  req  )

inlinestatic

Register a callback for a mavlink message.

Definition at line 163 of file mavlink_decoder.h.

References mavlink_msg_req::next, and mavlink_transport::req.

Referenced by px4flow_init().

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parse_mavlink()

static void parse_mavlink ( struct mavlink_transport *  t, uint8_t  c  )

inlinestatic

Mavlink character parser.

Definition at line 172 of file mavlink_decoder.h.

References mavlink_transport::checksum, mavlink_crc_accumulate(), mavlink_crc_extra, mavlink_crc_init(), MAVLINK_MSG_ID_IDX, MAVLINK_PARSE_STATE_GOT_CRC1, MAVLINK_PARSE_STATE_GOT_LENGTH, MAVLINK_PARSE_STATE_GOT_PAYLOAD, MAVLINK_PARSE_STATE_GOT_STX, MAVLINK_PARSE_STATE_IDLE, MAVLINK_PARSE_STATE_UNINIT, MAVLINK_PAYLOAD_OFFSET, mavlink_transport::payload_idx, mavlink_transport::status, STXMAV, and mavlink_transport::trans.

Referenced by mavlink_check_and_parse().

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Variable Documentation

mavlink_crc_extra

uint8_t mavlink_crc_extra[256]

extern

Definition at line 32 of file mavlink_decoder.c.

Referenced by parse_mavlink().

mavlink_tp

struct mavlink_transport mavlink_tp

extern

Definition at line 1 of file mavlink_decoder.c.

Referenced by px4flow_init().