Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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mavlink.h
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1/*
2 * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3 *
4 * This file is part of paparazzi.
5 *
6 * paparazzi is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2, or (at your option)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, write to
18 * the Free Software Foundation, 59 Temple Place - Suite 330,
19 * Boston, MA 02111-1307, USA.
20 *
21 */
22
27#ifndef DATALINK_MAVLINK_H
28#define DATALINK_MAVLINK_H
29
30#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
31#define MAVLINK_ALIGNED_FIELDS 0
32
33#include <mavlink/mavlink_types.h>
34
35#if USE_UDP
36#include "mcu_periph/udp.h"
37#endif
38#if USE_USB_SERIAL || USE_USB_SERIAL_DEBUG
40#endif
41#include "mcu_periph/uart.h"
42
43#ifndef MAVLINK_DEBUG
44#define MAVLINK_DEBUG(...) {}
45#endif
46
47#if MAVLINK_DEBUG == printf
48#include <stdio.h>
49#endif
50
51/*
52 * MAVLink description before main MAVLink include
53 */
55
56#ifndef MAVLINK_DEV
57#define MAVLINK_DEV uart1
58#endif
59
60/*
61 * The MAVLink link description
62 */
63#define MAVLinkDev (&(MAVLINK_DEV).device)
64#define MAVLinkTransmit(c) MAVLinkDev->put_byte(MAVLinkDev->periph, 0, c)
65#define MAVLinkChAvailable() MAVLinkDev->char_available(MAVLinkDev->periph)
66#define MAVLinkGetch() MAVLinkDev->get_byte(MAVLinkDev->periph)
67#define MAVLinkSendMessage() MAVLinkDev->send_message(MAVLinkDev->periph, 0)
68
72void mavlink_init(void);
73void mavlink_periodic(void);
75void mavlink_event(void);
76
84{
85 // Send bytes
87}
88
89#endif // DATALINK_MAVLINK_H
uint16_t foo
Definition main_demo5.c:58
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
arch independent UDP API
arch independent USB API
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.