mavlink.h File Reference

Basic MAVLink datalink implementation. More...

#include <mavlink/mavlink_types.h>
#include "mcu_periph/uart.h"
#include <stdio.h>

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Macros
#define	MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define	MAVLINK_ALIGNED_FIELDS   0
#define	MAVLINK_DEBUG(...)   {}
#define	MAVLINK_DEV   uart1
#define	MAVLinkDev   (&(MAVLINK_DEV).device)
#define	MAVLinkTransmit(c)   MAVLinkDev->put_byte(MAVLinkDev->periph, c)
#define	MAVLinkChAvailable()   MAVLinkDev->char_available(MAVLinkDev->periph)
#define	MAVLinkGetch()   MAVLinkDev->get_byte(MAVLinkDev->periph)
#define	MAVLinkSendMessage()   MAVLinkDev->send_message(MAVLinkDev->periph)

Functions
void	mavlink_init (void)
	Module functions. More...
void	mavlink_periodic (void)
	Periodic MAVLink calls. More...
void	mavlink_periodic_telemetry (void)
	Send periodic mavlink messages as defined in Mavlink process of telemetry xml file. More...
void	mavlink_event (void)
	Event MAVLink calls. More...
static void	comm_send_ch (mavlink_channel_t chan, uint8_t ch)
	Send one char (uint8_t) over a comm channel. More...

Variables
mavlink_system_t	mavlink_system

Detailed Description

Basic MAVLink datalink implementation.

Definition in file mavlink.h.

Macro Definition Documentation

#define MAVLINK_ALIGNED_FIELDS   0

Definition at line 31 of file mavlink.h.

#define MAVLINK_DEBUG

(

...

)

{}

Definition at line 44 of file mavlink.h.

Referenced by mavlink_block_message_handler(), mavlink_common_message_handler(), mavlink_mission_message_handler(), mavlink_mission_periodic(), mavlink_send_block(), mavlink_send_block_count(), mavlink_send_mission_ack(), mavlink_send_wp(), and mavlink_wp_message_handler().

#define MAVLINK_DEV   uart1

Definition at line 57 of file mavlink.h.

#define MAVLINK_USE_CONVENIENCE_FUNCTIONS

Definition at line 30 of file mavlink.h.

#define MAVLinkChAvailable

(

)

MAVLinkDev->char_available(MAVLinkDev->periph)

Definition at line 65 of file mavlink.h.

Referenced by mavlink_event().

#define MAVLinkDev   (&(MAVLINK_DEV).device)

Definition at line 63 of file mavlink.h.

#define MAVLinkGetch

(

)

MAVLinkDev->get_byte(MAVLinkDev->periph)

Definition at line 66 of file mavlink.h.

Referenced by mavlink_event().

#define MAVLinkSendMessage

(

)

MAVLinkDev->send_message(MAVLinkDev->periph)

Definition at line 67 of file mavlink.h.

Referenced by mavlink_common_message_handler(), mavlink_mission_periodic(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_autopilot_version(), mavlink_send_battery_status(), mavlink_send_block(), mavlink_send_block_count(), mavlink_send_global_position_int(), mavlink_send_gps_global_origin(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), mavlink_send_heartbeat(), mavlink_send_local_position_ned(), mavlink_send_mission_ack(), mavlink_send_params(), mavlink_send_rc_channels(), mavlink_send_sys_status(), mavlink_send_system_time(), mavlink_send_vfr_hud(), mavlink_send_wp(), and mavlink_wp_message_handler().

#define MAVLinkTransmit

(

c

)

MAVLinkDev->put_byte(MAVLinkDev->periph, c)

Definition at line 64 of file mavlink.h.

Referenced by comm_send_ch().

Function Documentation

static void comm_send_ch ( mavlink_channel_t  chan, uint8_t  ch  )

inlinestatic

Send one char (uint8_t) over a comm channel.

Parameters

chan	MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
ch	Character to send

Definition at line 83 of file mavlink.h.

References MAVLinkTransmit.

void mavlink_event

(

void

)

Event MAVLink calls.

Definition at line 203 of file mavlink.c.

References mavlink_common_message_handler(), mavlink_mission_message_handler(), MAVLinkChAvailable, MAVLinkGetch, and msg.

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void mavlink_init

(

void

)

Module functions.

Definition at line 105 of file mavlink.c.

References custom_version, mavlink_mission_init(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_autopilot_version(), mavlink_send_battery_status(), mavlink_send_global_position_int(), mavlink_send_gps_global_origin(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), mavlink_send_heartbeat(), mavlink_send_local_position_ned(), mavlink_send_rc_channels(), mavlink_send_sys_status(), mavlink_send_system_time(), mavlink_send_vfr_hud(), MAVLINK_SYSID, mavlink_system, and register_periodic_telemetry().

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void mavlink_periodic

(

void

)

Periodic MAVLink calls.

Called at MAVLINK_PERIODIC_FREQ (set in module xml to 10Hz)

Definition at line 149 of file mavlink.c.

References mavlink_mission_periodic(), mavlink_send_attitude(), mavlink_send_attitude_quaternion(), mavlink_send_autopilot_version(), mavlink_send_battery_status(), mavlink_send_global_position_int(), mavlink_send_gps_global_origin(), mavlink_send_gps_raw_int(), mavlink_send_gps_status(), mavlink_send_heartbeat(), mavlink_send_local_position_ned(), mavlink_send_params(), mavlink_send_rc_channels(), mavlink_send_sys_status(), mavlink_send_system_time(), and mavlink_send_vfr_hud().

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void mavlink_periodic_telemetry

(

void

)

Send periodic mavlink messages as defined in Mavlink process of telemetry xml file.

Called at TELEMETRY_FREQUENCY

Definition at line 136 of file mavlink.c.

Variable Documentation

mavlink_system_t mavlink_system

Definition at line 62 of file mavlink.c.

Referenced by mavlink_block_message_handler(), mavlink_init(), and mavlink_wp_message_handler().