mavlink_main.cpp File Reference

MAVLink 1.0 protocol implementation. More...

#include <termios.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/version/version.h>
#include <uORB/PublicationQueued.hpp>
#include "mavlink_receiver.h"
#include "mavlink_main.h"

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Macros
#define	MAVLINK_NET_ADDED_STACK   0
#define	FLOW_CONTROL_DISABLE_THRESHOLD   40
	picked so that some messages still would fit it. More...
#define	MAX_DATA_RATE   10000000
	max data rate in bytes/s More...
#define	MAIN_LOOP_DELAY   10000
	100 Hz @ 1000 bytes/s data rate More...
#define	B460800   460800
#define	B500000   500000
#define	B921600   921600
#define	B1000000   1000000

Functions
__EXPORT int	mavlink_main (int argc, char *argv[])
	Mavlink app start / stop handling function. More...
void	mavlink_send_uart_bytes (mavlink_channel_t chan, const uint8_t *ch, int length)
	Send multiple chars (uint8_t) over a comm channel. More...
void	mavlink_start_uart_send (mavlink_channel_t chan, int length)
void	mavlink_end_uart_send (mavlink_channel_t chan, int length)
mavlink_status_t *	mavlink_get_channel_status (uint8_t channel)
mavlink_message_t *	mavlink_get_channel_buffer (uint8_t channel)
static void	usage ()

Variables
static Mavlink *	_mavlink_instances = nullptr

Detailed Description

MAVLink 1.0 protocol implementation.

Author

Lorenz Meier lm@in.nosp@m.f.et.nosp@m.hz.ch

Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch

Anton Babushkin anton.nosp@m..bab.nosp@m.ushki.nosp@m.n@me.nosp@m..com

Definition in file mavlink_main.cpp.

Macro Definition Documentation

B1000000

#define B1000000   1000000

Referenced by Mavlink::mavlink_open_uart().

B460800

#define B460800   460800

Referenced by RoboClaw::_parameters_update(), Mavlink::mavlink_open_uart(), and Simulator::poll_for_MAVLink_messages().

B500000

#define B500000   500000

Referenced by Mavlink::mavlink_open_uart().

B921600

#define B921600   921600

Referenced by Mavlink::mavlink_open_uart(), and Simulator::poll_for_MAVLink_messages().

FLOW_CONTROL_DISABLE_THRESHOLD

#define FLOW_CONTROL_DISABLE_THRESHOLD   40

picked so that some messages still would fit it.

Definition at line 75 of file mavlink_main.cpp.

Referenced by Mavlink::get_free_tx_buf().

MAIN_LOOP_DELAY

#define MAIN_LOOP_DELAY   10000

100 Hz @ 1000 bytes/s data rate

Definition at line 77 of file mavlink_main.cpp.

Referenced by Mavlink::configure_stream_threadsafe(), and Mavlink::task_main().

MAVLINK_NET_ADDED_STACK

#define MAVLINK_NET_ADDED_STACK   0

Definition at line 72 of file mavlink_main.cpp.

Referenced by Mavlink::start().

MAX_DATA_RATE

#define MAX_DATA_RATE   10000000

max data rate in bytes/s

Definition at line 76 of file mavlink_main.cpp.

Referenced by Mavlink::task_main().

Function Documentation

mavlink_end_uart_send()

void mavlink_end_uart_send	(	mavlink_channel_t	chan,
		int	length
	)

Definition at line 116 of file mavlink_main.cpp.

References Mavlink::get_instance(), and Mavlink::send_packet().

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mavlink_get_channel_buffer()

mavlink_message_t* mavlink_get_channel_buffer

(

uint8_t

channel

)

Definition at line 146 of file mavlink_main.cpp.

References Mavlink::_boot_complete, Mavlink::_first_start_time, Mavlink::get_buffer(), Mavlink::get_instance(), hrt_abstime, and usage().

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mavlink_get_channel_status()

mavlink_status_t* mavlink_get_channel_status

(

uint8_t

channel

)

Definition at line 131 of file mavlink_main.cpp.

References Mavlink::get_instance(), and Mavlink::get_status().

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mavlink_main()

int mavlink_main	(	int	argc,
		char *	argv[]
	)

Mavlink app start / stop handling function.

Definition at line 3087 of file mavlink_main.cpp.

References Mavlink::destroy_all_instances(), Mavlink::get_status_all_instances(), Mavlink::set_boot_complete(), Mavlink::start(), Mavlink::stream_command(), and usage().

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mavlink_send_uart_bytes()

void mavlink_send_uart_bytes	(	mavlink_channel_t	chan,
		const uint8_t *	ch,
		int	length
	)

Send multiple chars (uint8_t) over a comm channel.

Parameters

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

Definition at line 88 of file mavlink_main.cpp.

References Mavlink::get_instance(), and Mavlink::send_bytes().

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mavlink_start_uart_send()

void mavlink_start_uart_send	(	mavlink_channel_t	chan,
		int	length
	)

Definition at line 104 of file mavlink_main.cpp.

References Mavlink::begin_send(), and Mavlink::get_instance().

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usage()

static void usage ( void  )

static

Definition at line 3014 of file mavlink_main.cpp.

References f().

Referenced by mavlink_get_channel_buffer(), mavlink_main(), Mavlink::stream_command(), and Mavlink::task_main().

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Variable Documentation

_mavlink_instances

Mavlink* _mavlink_instances = nullptr

static

Definition at line 79 of file mavlink_main.cpp.

Referenced by Mavlink::destroy_all_instances(), Mavlink::get_status_all_instances(), and Mavlink::serial_instance_exists().