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obbey C89 comment style

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This commit is contained in:
Matt
2018-05-06 13:40:40 +08:00
parent 4708771c91
commit f57702b635
11 changed files with 188 additions and 188 deletions
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ardupilotmega/version.h
+1 -1
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@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 04 2018"
#define MAVLINK_BUILD_DATE "Sun May 06 2018"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
checksum.h
+1 -1
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@@ -6,7 +6,7 @@ namespace mavlink {
extern "C" {
#endif
// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
/* Visual Studio versions before 2010 don't have stdint.h, so we just error out.*/
#if (defined _MSC_VER) && (_MSC_VER < 1600)
#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
#endif
common/version.h
+1 -1
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@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 04 2018"
#define MAVLINK_BUILD_DATE "Sun May 06 2018"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
icarous/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 04 2018"
#define MAVLINK_BUILD_DATE "Sun May 06 2018"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
mavlink_conversions.h
+1 -1
View File
@@ -215,4 +215,4 @@ MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, flo
dcm[2][2] = cosPhi * cosThe;
}
#endif // MAVLINK_NO_CONVERSION_HELPERS
#endif /* MAVLINK_NO_CONVERSION_HELPERS */
mavlink_get_info.h
+1 -1
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@@ -66,6 +66,6 @@ MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(co
}
return NULL;
}
#endif // MAVLINK_USE_MESSAGE_INFO
#endif /* MAVLINK_USE_MESSAGE_INFO */
mavlink_helpers.h
+99 -99
View File
@@ -23,8 +23,8 @@ namespace mavlink {
MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
{
#ifdef MAVLINK_EXTERNAL_RX_STATUS
// No m_mavlink_status array defined in function,
// has to be defined externally
/* No m_mavlink_status array defined in function, */
/* has to be defined externally */
#else
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
#endif
@@ -38,16 +38,16 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
#ifndef MAVLINK_GET_CHANNEL_BUFFER
MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
{
#ifdef MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_buffer array defined in function,
// has to be defined externally
/* No m_mavlink_buffer array defined in function, */
/* has to be defined externally */
#else
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
#endif
return &m_mavlink_buffer[chan];
}
#endif // MAVLINK_GET_CHANNEL_BUFFER
#endif /* MAVLINK_GET_CHANNEL_BUFFER */
/**
* @brief Reset the status of a channel.
@@ -79,7 +79,7 @@ MAVLINK_HELPER uint8_t mavlink_sign_packet(mavlink_signing_t *signing,
tstamp.t64 = signing->timestamp;
memcpy(&signature[1], tstamp.t8, 6);
signing->timestamp++;
mavlink_sha256_init(&ctx);
mavlink_sha256_update(&ctx, signing->secret_key, sizeof(signing->secret_key));
mavlink_sha256_update(&ctx, header, header_len);
@@ -87,7 +87,7 @@ MAVLINK_HELPER uint8_t mavlink_sign_packet(mavlink_signing_t *signing,
mavlink_sha256_update(&ctx, crc, 2);
mavlink_sha256_update(&ctx, signature, 7);
mavlink_sha256_final_48(&ctx, &signature[7]);
return MAVLINK_SIGNATURE_BLOCK_LEN;
}
@@ -123,7 +123,7 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
} tstamp;
uint8_t link_id;
union tstamp last_tstamp;
if (signing == NULL) {
return true;
}
@@ -137,7 +137,7 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
return false;
}
// now check timestamp
/* now check timestamp */
link_id = psig[0];
tstamp.t64 = 0;
memcpy(tstamp.t8, psig+1, 6);
@@ -145,8 +145,8 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
if (signing_streams == NULL) {
return false;
}
// find stream
/* find stream */
for (i=0; i<signing_streams->num_signing_streams; i++) {
if (msg->sysid == signing_streams->stream[i].sysid &&
msg->compid == signing_streams->stream[i].compid &&
@@ -156,14 +156,14 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
}
if (i == signing_streams->num_signing_streams) {
if (signing_streams->num_signing_streams >= MAVLINK_MAX_SIGNING_STREAMS) {
// over max number of streams
/* over max number of streams */
return false;
}
// new stream. Only accept if timestamp is not more than 1 minute old
/* new stream. Only accept if timestamp is not more than 1 minute old */
if (tstamp.t64 + 6000*1000UL < signing->timestamp) {
return false;
}
// add new stream
/* add new stream */
signing_streams->stream[i].sysid = msg->sysid;
signing_streams->stream[i].compid = msg->compid;
signing_streams->stream[i].link_id = link_id;
@@ -172,15 +172,15 @@ MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing,
last_tstamp.t64 = 0;
memcpy(last_tstamp.t8, signing_streams->stream[i].timestamp_bytes, 6);
if (tstamp.t64 <= last_tstamp.t64) {
// repeating old timestamp
/* repeating old timestamp */
return false;
}
}
// remember last timestamp
/* remember last timestamp */
memcpy(signing_streams->stream[i].timestamp_bytes, psig+1, 6);
// our next timestamp must be at least this timestamp
/* our next timestamp must be at least this timestamp */
if (tstamp.t64 > signing->timestamp) {
signing->timestamp = tstamp.t64;
}
@@ -225,7 +225,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg,
msg->seq = status->current_tx_seq;
status->current_tx_seq = status->current_tx_seq + 1;
// form the header as a byte array for the crc
/* form the header as a byte array for the crc */
buf[0] = msg->magic;
buf[1] = msg->len;
if (mavlink1) {
@@ -243,7 +243,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg,
buf[8] = (msg->msgid >> 8) & 0xFF;
buf[9] = (msg->msgid >> 16) & 0xFF;
}
msg->checksum = crc_calculate(&buf[1], header_len-1);
crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
crc_accumulate(crc_extra, &msg->checksum);
@@ -257,7 +257,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg,
(const uint8_t *)_MAV_PAYLOAD(msg), msg->len,
(const uint8_t *)_MAV_PAYLOAD(msg)+(uint16_t)msg->len);
}
return msg->len + header_len + 2 + signature_len;
}
@@ -271,7 +271,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
/**
* @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
*/
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
uint8_t min_length, uint8_t length, uint8_t crc_extra)
{
return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, min_length, length, crc_extra);
@@ -289,7 +289,7 @@ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf,
* @brief Finalize a MAVLink message with channel assignment and send
*/
MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid,
const char *packet,
const char *packet,
uint8_t min_length, uint8_t length, uint8_t crc_extra)
{
uint16_t checksum;
@@ -305,7 +305,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
if (mavlink1) {
length = min_length;
if (msgid > 255) {
// can't send 16 bit messages
/* can't send 16 bit messages */
_mav_parse_error(status);
return;
}
@@ -325,7 +325,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
buf[0] = MAVLINK_STX;
buf[1] = length;
buf[2] = incompat_flags;
buf[3] = 0; // compat_flags
buf[3] = 0; /* compat_flags */
buf[4] = status->current_tx_seq;
buf[5] = mavlink_system.sysid;
buf[6] = mavlink_system.compid;
@@ -341,11 +341,11 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
ck[1] = (uint8_t)(checksum >> 8);
if (signing) {
// possibly add a signature
/* possibly add a signature */
signature_len = mavlink_sign_packet(status->signing, signature, buf, header_len+1,
(const uint8_t *)packet, length, ck);
}
MAVLINK_START_UART_SEND(chan, header_len + 3 + (uint16_t)length + (uint16_t)signature_len);
_mavlink_send_uart(chan, (const char *)buf, header_len+1);
_mavlink_send_uart(chan, packet, length);
@@ -367,16 +367,16 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
// XXX use the right sequence here
/* XXX use the right sequence here */
uint8_t header_len;
uint8_t signature_len;
if (msg->magic == MAVLINK_STX_MAVLINK1) {
header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN + 1;
signature_len = 0;
MAVLINK_START_UART_SEND(chan, header_len + msg->len + 2 + signature_len);
// we can't send the structure directly as it has extra mavlink2 elements in it
/* we can't send the structure directly as it has extra mavlink2 elements in it */
uint8_t buf[MAVLINK_CORE_HEADER_MAVLINK1_LEN + 1];
buf[0] = msg->magic;
buf[1] = msg->len;
@@ -409,7 +409,7 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
}
MAVLINK_END_UART_SEND(chan, header_len + msg->len + 2 + signature_len);
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
#endif /* MAVLINK_USE_CONVENIENCE_FUNCTIONS */
/**
* @brief Pack a message to send it over a serial byte stream
@@ -419,7 +419,7 @@ MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buf, const mavlink_m
uint8_t signature_len, header_len;
uint8_t *ck;
uint8_t length = msg->len;
if (msg->magic == MAVLINK_STX_MAVLINK1) {
signature_len = 0;
header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN;
@@ -503,12 +503,12 @@ MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid)
break;
}
if (mavlink_message_crcs[low].msgid != msgid) {
// msgid is not in the table
/* msgid is not in the table */
return NULL;
}
return &mavlink_message_crcs[low];
}
#endif // MAVLINK_GET_MSG_ENTRY
#endif /* MAVLINK_GET_MSG_ENTRY */
/*
return the crc_extra value for a message
@@ -535,7 +535,7 @@ MAVLINK_HELPER uint8_t mavlink_expected_message_length(const mavlink_message_t *
* parser in a library that doesn't use any global variables
*
* @param rxmsg parsing message buffer
* @param status parsing starus buffer
* @param status parsing starus buffer
* @param c The char to parse
*
* @param returnMsg NULL if no message could be decoded, the message data else
@@ -563,10 +563,10 @@ MAVLINK_HELPER uint8_t mavlink_expected_message_length(const mavlink_message_t *
*
* @endcode
*/
MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_status_t* status,
uint8_t c,
mavlink_message_t* r_message,
uint8_t c,
mavlink_message_t* r_message,
mavlink_status_t* r_mavlink_status)
{
/* Enable this option to check the length of each message.
@@ -608,7 +608,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
break;
case MAVLINK_PARSE_STATE_GOT_STX:
if (status->msg_received
if (status->msg_received
/* Support shorter buffers than the
default maximum packet size */
#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
@@ -623,7 +623,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
}
else
{
// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
/* NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 */
rxmsg->len = c;
status->packet_idx = 0;
mavlink_update_checksum(rxmsg, c);
@@ -640,7 +640,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
case MAVLINK_PARSE_STATE_GOT_LENGTH:
rxmsg->incompat_flags = c;
if ((rxmsg->incompat_flags & ~MAVLINK_IFLAG_MASK) != 0) {
// message includes an incompatible feature flag
/* message includes an incompatible feature flag */
_mav_parse_error(status);
status->msg_received = 0;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
@@ -661,7 +661,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_update_checksum(rxmsg, c);
status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
break;
case MAVLINK_PARSE_STATE_GOT_SEQ:
rxmsg->sysid = c;
mavlink_update_checksum(rxmsg, c);
@@ -719,7 +719,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
}
#endif
break;
case MAVLINK_PARSE_STATE_GOT_MSGID3:
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
@@ -740,7 +740,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
}
rxmsg->ck[0] = c;
// zero-fill the packet to cope with short incoming packets
/* zero-fill the packet to cope with short incoming packets */
if (e && status->packet_idx < e->msg_len) {
memset(&_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx], 0, e->msg_len - status->packet_idx);
}
@@ -750,10 +750,10 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
case MAVLINK_PARSE_STATE_GOT_CRC1:
case MAVLINK_PARSE_STATE_GOT_BAD_CRC1:
if (status->parse_state == MAVLINK_PARSE_STATE_GOT_BAD_CRC1 || c != (rxmsg->checksum >> 8)) {
// got a bad CRC message
/* got a bad CRC message */
status->msg_received = MAVLINK_FRAMING_BAD_CRC;
} else {
// Successfully got message
/* Successfully got message */
status->msg_received = MAVLINK_FRAMING_OK;
}
rxmsg->ck[1] = c;
@@ -762,8 +762,8 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
status->parse_state = MAVLINK_PARSE_STATE_SIGNATURE_WAIT;
status->signature_wait = MAVLINK_SIGNATURE_BLOCK_LEN;
// If the CRC is already wrong, don't overwrite msg_received,
// otherwise we can end up with garbage flagged as valid.
/* If the CRC is already wrong, don't overwrite msg_received, */
/* otherwise we can end up with garbage flagged as valid. */
if (status->msg_received != MAVLINK_FRAMING_BAD_CRC) {
status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
}
@@ -772,7 +772,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
(status->signing->accept_unsigned_callback == NULL ||
!status->signing->accept_unsigned_callback(status, rxmsg->msgid))) {
// If the CRC is already wrong, don't overwrite msg_received.
/* If the CRC is already wrong, don't overwrite msg_received. */
if (status->msg_received != MAVLINK_FRAMING_BAD_CRC) {
status->msg_received = MAVLINK_FRAMING_BAD_SIGNATURE;
}
@@ -785,12 +785,12 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
rxmsg->signature[MAVLINK_SIGNATURE_BLOCK_LEN-status->signature_wait] = c;
status->signature_wait--;
if (status->signature_wait == 0) {
// we have the whole signature, check it is OK
/* we have the whole signature, check it is OK */
bool sig_ok = mavlink_signature_check(status->signing, status->signing_streams, rxmsg);
if (!sig_ok &&
(status->signing->accept_unsigned_callback &&
status->signing->accept_unsigned_callback(status, rxmsg->msgid))) {
// accepted via application level override
/* accepted via application level override */
sig_ok = true;
}
if (sig_ok) {
@@ -805,22 +805,22 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
}
bufferIndex++;
// If a message has been sucessfully decoded, check index
/* If a message has been sucessfully decoded, check index */
if (status->msg_received == MAVLINK_FRAMING_OK)
{
//while(status->current_seq != rxmsg->seq)
//{
// status->packet_rx_drop_count++;
// status->current_seq++;
//}
/*while(status->current_seq != rxmsg->seq) */
/*{ */
/* status->packet_rx_drop_count++; */
/* status->current_seq++; */
/*} */
status->current_rx_seq = rxmsg->seq;
// Initial condition: If no packet has been received so far, drop count is undefined
/* Initial condition: If no packet has been received so far, drop count is undefined */
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
// Count this packet as received
/* Count this packet as received */
status->packet_rx_success_count++;
}
r_message->len = rxmsg->len; // Provide visibility on how far we are into current msg
r_message->len = rxmsg->len; /* Provide visibility on how far we are into current msg */
r_mavlink_status->parse_state = status->parse_state;
r_mavlink_status->packet_idx = status->packet_idx;
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
@@ -966,7 +966,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
uint8_t msg_received = mavlink_frame_char(chan, c, r_message, r_mavlink_status);
if (msg_received == MAVLINK_FRAMING_BAD_CRC ||
msg_received == MAVLINK_FRAMING_BAD_SIGNATURE) {
// we got a bad CRC. Treat as a parse failure
/* we got a bad CRC. Treat as a parse failure */
mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan);
mavlink_status_t* status = mavlink_get_channel_status(chan);
_mav_parse_error(status);
@@ -996,7 +996,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
{
uint16_t bits_remain = bits;
// Transform number into network order
/* Transform number into network order */
int32_t v;
uint8_t i_bit_index, i_byte_index, curr_bits_n;
#if MAVLINK_NEED_BYTE_SWAP
@@ -1014,81 +1014,81 @@ MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t
v = b;
#endif
// buffer in
// 01100000 01000000 00000000 11110001
// buffer out
// 11110001 00000000 01000000 01100000
/* buffer in */
/* 01100000 01000000 00000000 11110001 */
/* buffer out */
/* 11110001 00000000 01000000 01100000 */
// Existing partly filled byte (four free slots)
// 0111xxxx
/* Existing partly filled byte (four free slots) */
/* 0111xxxx */
// Mask n free bits
// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
/* Mask n free bits */
/* 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 */
/* = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 */
// Shift n bits into the right position
// out = in >> n;
/* Shift n bits into the right position */
/* out = in >> n; */
// Mask and shift bytes
/* Mask and shift bytes */
i_bit_index = bit_index;
i_byte_index = packet_index;
if (bit_index > 0)
{
// If bits were available at start, they were available
// in the byte before the current index
/* If bits were available at start, they were available */
/* in the byte before the current index */
i_byte_index--;
}
// While bits have not been packed yet
/* While bits have not been packed yet */
while (bits_remain > 0)
{
// Bits still have to be packed
// there can be more than 8 bits, so
// we might have to pack them into more than one byte
/* Bits still have to be packed */
/* there can be more than 8 bits, so */
/* we might have to pack them into more than one byte */
// First pack everything we can into the current 'open' byte
//curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8
//FIXME
/* First pack everything we can into the current 'open' byte */
/*curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 */
/*FIXME */
if (bits_remain <= (uint8_t)(8 - i_bit_index))
{
// Enough space
/* Enough space */
curr_bits_n = (uint8_t)bits_remain;
}
else
{
curr_bits_n = (8 - i_bit_index);
}
// Pack these n bits into the current byte
// Mask out whatever was at that position with ones (xxx11111)
/* Pack these n bits into the current byte */
/* Mask out whatever was at that position with ones (xxx11111) */
buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
// Put content to this position, by masking out the non-used part
/* Put content to this position, by masking out the non-used part */
buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
// Increment the bit index
/* Increment the bit index */
i_bit_index += curr_bits_n;
// Now proceed to the next byte, if necessary
/* Now proceed to the next byte, if necessary */
bits_remain -= curr_bits_n;
if (bits_remain > 0)
{
// Offer another 8 bits / one byte
/* Offer another 8 bits / one byte */
i_byte_index++;
i_bit_index = 0;
}
}
*r_bit_index = i_bit_index;
// If a partly filled byte is present, mark this as consumed
/* If a partly filled byte is present, mark this as consumed */
if (i_bit_index != 7) i_byte_index++;
return i_byte_index - packet_index;
}
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
// To make MAVLink work on your MCU, define comm_send_ch() if you wish
// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
// whole packet at a time
/* To make MAVLink work on your MCU, define comm_send_ch() if you wish */
/* to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a */
/* whole packet at a time */
/*
@@ -1121,8 +1121,8 @@ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf,
}
#endif
}
#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
#endif /* MAVLINK_USE_CONVENIENCE_FUNCTIONS */
#ifdef MAVLINK_USE_CXX_NAMESPACE
} // namespace mavlink
} /* namespace mavlink */
#endif
mavlink_sha256.h
+14 -14
View File
@@ -8,22 +8,22 @@
* Copyright (c) 1995 - 2001 Kungliga Tekniska Högskolan
* (Royal Institute of Technology, Stockholm, Sweden).
* All rights reserved.
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
*
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
@@ -129,7 +129,7 @@ static inline void mavlink_sha256_calc(mavlink_sha256_ctx *m, uint32_t *in)
for (i = 0; i < 16; ++i)
data[i] = in[i];
for (i = 16; i < 64; ++i)
data[i] = sigma1(data[i-2]) + data[i-7] +
data[i] = sigma1(data[i-2]) + data[i-7] +
sigma0(data[i-15]) + data[i - 16];
for (i = 0; i < 64; i++) {
@@ -137,7 +137,7 @@ static inline void mavlink_sha256_calc(mavlink_sha256_ctx *m, uint32_t *in)
T1 = HH + Sigma1(EE) + Ch(EE, FF, GG) + mavlink_sha256_constant_256[i] + data[i];
T2 = Sigma0(AA) + Maj(AA,BB,CC);
HH = GG;
GG = FF;
FF = EE;
@@ -204,7 +204,7 @@ MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t resul
unsigned offset = (m->sz[0] / 8) % 64;
unsigned int dstart = (120 - offset - 1) % 64 + 1;
uint8_t *p = (uint8_t *)&m->counter[0];
*zeros = 0x80;
memset (zeros + 1, 0, sizeof(zeros) - 1);
zeros[dstart+7] = (m->sz[0] >> 0) & 0xff;
@@ -218,9 +218,9 @@ MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t resul
mavlink_sha256_update(m, zeros, dstart + 8);
// this ordering makes the result consistent with taking the first
// 6 bytes of more conventional sha256 functions. It assumes
// little-endian ordering of m->counter
/* this ordering makes the result consistent with taking the first */
/* 6 bytes of more conventional sha256 functions. It assumes */
/* little-endian ordering of m->counter */
result[0] = p[3];
result[1] = p[2];
result[2] = p[1];
@@ -229,7 +229,7 @@ MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t resul
result[5] = p[6];
}
// prevent conflicts with users of the header
/* prevent conflicts with users of the header */
#undef A
#undef B
#undef C
@@ -246,7 +246,7 @@ MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t resul
#undef sigma1
#ifdef MAVLINK_USE_CXX_NAMESPACE
} // namespace mavlink
} /* namespace mavlink */
#endif
#endif // HAVE_MAVLINK_SHA256
#endif /* HAVE_MAVLINK_SHA256 */
mavlink_types.h
+58 -58
View File
@@ -1,6 +1,6 @@
#pragma once
// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
/* Visual Studio versions before 2010 don't have stdint.h, so we just error out. */
#if (defined _MSC_VER) && (_MSC_VER < 1600)
#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
#endif
@@ -12,7 +12,7 @@
namespace mavlink {
#endif
// Macro to define packed structures
/* Macro to define packed structures */
#ifdef __GNUC__
#define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
#elif defined __ARMCC_VERSION
@@ -23,19 +23,19 @@ namespace mavlink {
#endif
#ifndef MAVLINK_MAX_PAYLOAD_LEN
// it is possible to override this, but be careful!
#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
/* it is possible to override this, but be careful! */
#define MAVLINK_MAX_PAYLOAD_LEN 255 /*< Maximum payload length */
#endif
#define MAVLINK_CORE_HEADER_LEN 9 ///< Length of core header (of the comm. layer)
#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 ///< Length of MAVLink1 core header (of the comm. layer)
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and stx
#define MAVLINK_CORE_HEADER_LEN 9 /*< Length of core header (of the comm. layer) */
#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 /*< Length of MAVLink1 core header (of the comm. layer) */
#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) /*< Length of all header bytes, including core and stx */
#define MAVLINK_NUM_CHECKSUM_BYTES 2
#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
#define MAVLINK_SIGNATURE_BLOCK_LEN 13
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) ///< Maximum packet length
#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) /*< Maximum packet length */
/**
* Old-style 4 byte param union
@@ -103,23 +103,23 @@ typedef struct param_union_extended {
*/
MAVPACKED(
typedef struct __mavlink_system {
uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
uint8_t sysid; /*< Used by the MAVLink message_xx_send() convenience function */
uint8_t compid; /*< Used by the MAVLink message_xx_send() convenience function */
}) mavlink_system_t;
MAVPACKED(
typedef struct __mavlink_message {
uint16_t checksum; ///< sent at end of packet
uint8_t magic; ///< protocol magic marker
uint8_t len; ///< Length of payload
uint8_t incompat_flags; ///< flags that must be understood
uint8_t compat_flags; ///< flags that can be ignored if not understood
uint8_t seq; ///< Sequence of packet
uint8_t sysid; ///< ID of message sender system/aircraft
uint8_t compid; ///< ID of the message sender component
uint32_t msgid:24; ///< ID of message in payload
uint16_t checksum; /*< sent at end of packet */
uint8_t magic; /*< protocol magic marker */
uint8_t len; /*< Length of payload */
uint8_t incompat_flags; /*< flags that must be understood */
uint8_t compat_flags; /*< flags that can be ignored if not understood */
uint8_t seq; /*< Sequence of packet */
uint8_t sysid; /*< ID of message sender system/aircraft */
uint8_t compid; /*< ID of the message sender component */
uint32_t msgid:24; /*< ID of message in payload */
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
uint8_t ck[2]; ///< incoming checksum bytes
uint8_t ck[2]; /*< incoming checksum bytes */
uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];
}) mavlink_message_t;
@@ -140,27 +140,27 @@ typedef enum {
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
const char *name; /* name of this field */
const char *print_format; /* printing format hint, or NULL */
mavlink_message_type_t type; /* type of this field */
unsigned int array_length; /* if non-zero, field is an array */
unsigned int wire_offset; /* offset of each field in the payload */
unsigned int structure_offset; /* offset in a C structure */
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
// in the XML file, not necessary the wire order
/* note that in this structure the order of fields is the order */
/* in the XML file, not necessary the wire order */
typedef struct __mavlink_message_info {
uint32_t msgid; // message ID
const char *name; // name of the message
unsigned num_fields; // how many fields in this message
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
uint32_t msgid; /* message ID */
const char *name; /* name of the message */
unsigned num_fields; /* how many fields in this message */
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; /* field information */
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
// checksum is immediately after the payload bytes
/* checksum is immediately after the payload bytes */
#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
@@ -201,7 +201,7 @@ typedef enum {
MAVLINK_PARSE_STATE_GOT_CRC1,
MAVLINK_PARSE_STATE_GOT_BAD_CRC1,
MAVLINK_PARSE_STATE_SIGNATURE_WAIT
} mavlink_parse_state_t; ///< The state machine for the comm parser
} mavlink_parse_state_t; /*< The state machine for the comm parser */
typedef enum {
MAVLINK_FRAMING_INCOMPLETE=0,
@@ -210,27 +210,27 @@ typedef enum {
MAVLINK_FRAMING_BAD_SIGNATURE=3
} mavlink_framing_t;
#define MAVLINK_STATUS_FLAG_IN_MAVLINK1 1 // last incoming packet was MAVLink1
#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default
#define MAVLINK_STATUS_FLAG_IN_SIGNED 4 // last incoming packet was signed and validated
#define MAVLINK_STATUS_FLAG_IN_BADSIG 8 // last incoming packet had a bad signature
#define MAVLINK_STATUS_FLAG_IN_MAVLINK1 1 /* last incoming packet was MAVLink1 */
#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 /* generate MAVLink1 by default */
#define MAVLINK_STATUS_FLAG_IN_SIGNED 4 /* last incoming packet was signed and validated */
#define MAVLINK_STATUS_FLAG_IN_BADSIG 8 /* last incoming packet had a bad signature */
#define MAVLINK_STX_MAVLINK1 0xFE // marker for old protocol
#define MAVLINK_STX_MAVLINK1 0xFE /* marker for old protocol */
typedef struct __mavlink_status {
uint8_t msg_received; ///< Number of received messages
uint8_t buffer_overrun; ///< Number of buffer overruns
uint8_t parse_error; ///< Number of parse errors
mavlink_parse_state_t parse_state; ///< Parsing state machine
uint8_t packet_idx; ///< Index in current packet
uint8_t current_rx_seq; ///< Sequence number of last packet received
uint8_t current_tx_seq; ///< Sequence number of last packet sent
uint16_t packet_rx_success_count; ///< Received packets
uint16_t packet_rx_drop_count; ///< Number of packet drops
uint8_t flags; ///< MAVLINK_STATUS_FLAG_*
uint8_t signature_wait; ///< number of signature bytes left to receive
struct __mavlink_signing *signing; ///< optional signing state
struct __mavlink_signing_streams *signing_streams; ///< global record of stream timestamps
uint8_t msg_received; /*< Number of received messages */
uint8_t buffer_overrun; /*< Number of buffer overruns */
uint8_t parse_error; /*< Number of parse errors */
mavlink_parse_state_t parse_state; /*< Parsing state machine */
uint8_t packet_idx; /*< Index in current packet */
uint8_t current_rx_seq; /*< Sequence number of last packet received */
uint8_t current_tx_seq; /*< Sequence number of last packet sent */
uint16_t packet_rx_success_count; /*< Received packets */
uint16_t packet_rx_drop_count; /*< Number of packet drops */
uint8_t flags; /*< MAVLINK_STATUS_FLAG_* */
uint8_t signature_wait; /*< number of signature bytes left to receive */
struct __mavlink_signing *signing; /*< optional signing state */
struct __mavlink_signing_streams *signing_streams; /*< global record of stream timestamps */
} mavlink_status_t;
/*
@@ -247,7 +247,7 @@ typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32
state of MAVLink signing for this channel
*/
typedef struct __mavlink_signing {
uint8_t flags; ///< MAVLINK_SIGNING_FLAG_*
uint8_t flags; /*< MAVLINK_SIGNING_FLAG_* */
uint8_t link_id;
uint64_t timestamp;
uint8_t secret_key[32];
@@ -285,17 +285,17 @@ typedef struct __mavlink_msg_entry {
uint32_t msgid;
uint8_t crc_extra;
uint8_t msg_len;
uint8_t flags; // MAV_MSG_ENTRY_FLAG_*
uint8_t target_system_ofs; // payload offset to target_system, or 0
uint8_t target_component_ofs; // payload offset to target_component, or 0
uint8_t flags; /* MAV_MSG_ENTRY_FLAG_* */
uint8_t target_system_ofs; /* payload offset to target_system, or 0 */
uint8_t target_component_ofs; /* payload offset to target_component, or 0 */
} mavlink_msg_entry_t;
/*
incompat_flags bits
*/
#define MAVLINK_IFLAG_SIGNED 0x01
#define MAVLINK_IFLAG_MASK 0x01 // mask of all understood bits
#define MAVLINK_IFLAG_MASK 0x01 /* mask of all understood bits */
#ifdef MAVLINK_USE_CXX_NAMESPACE
} // namespace mavlink
} /* namespace mavlink */
#endif
protocol.h
+10 -10
View File
@@ -3,7 +3,7 @@
#include "string.h"
#include "mavlink_types.h"
/*
/*
If you want MAVLink on a system that is native big-endian,
you need to define NATIVE_BIG_ENDIAN
*/
@@ -54,10 +54,10 @@
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
mavlink_status_t* status,
uint8_t c,
mavlink_message_t* r_message,
uint8_t c,
mavlink_message_t* r_message,
mavlink_status_t* r_mavlink_status);
MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
@@ -74,7 +74,7 @@
#define MAVLINK_HELPER static inline
#include "mavlink_helpers.h"
#endif // MAVLINK_SEPARATE_HELPERS
#endif /* MAVLINK_SEPARATE_HELPERS */
/**
@@ -265,7 +265,7 @@ _MAV_MSG_RETURN_TYPE(uint64_t, 8)
_MAV_MSG_RETURN_TYPE(int64_t, 8)
_MAV_MSG_RETURN_TYPE(float, 4)
_MAV_MSG_RETURN_TYPE(double, 8)
#else // nicely aligned, no swap
#else /* nicely aligned, no swap */
#define _MAV_MSG_RETURN_TYPE(TYPE) \
static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
@@ -278,23 +278,23 @@ _MAV_MSG_RETURN_TYPE(uint64_t)
_MAV_MSG_RETURN_TYPE(int64_t)
_MAV_MSG_RETURN_TYPE(float)
_MAV_MSG_RETURN_TYPE(double)
#endif // MAVLINK_NEED_BYTE_SWAP
#endif /* MAVLINK_NEED_BYTE_SWAP */
static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
uint8_t array_length, uint8_t wire_offset)
{
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
return array_length;
}
static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
uint8_t array_length, uint8_t wire_offset)
{
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
return array_length;
}
static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
uint8_t array_length, uint8_t wire_offset)
{
memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
uAvionix/version.h
+1 -1
View File
@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Fri May 04 2018"
#define MAVLINK_BUILD_DATE "Sun May 06 2018"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255