#pragma once
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// Visual Studio versions before 2010 don't have stdint.h, so we just error out.
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#if (defined _MSC_VER) && (_MSC_VER < 1600)
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#error "The C-MAVLink implementation requires Visual Studio 2010 or greater"
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef MAVLINK_USE_CXX_NAMESPACE
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namespace mavlink {
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#endif
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// Macro to define packed structures
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#ifdef __GNUC__
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#define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))
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#else
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#define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )
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#endif
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#ifndef MAVLINK_MAX_PAYLOAD_LEN
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// it is possible to override this, but be careful!
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#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
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#endif
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#define MAVLINK_CORE_HEADER_LEN 9 ///< Length of core header (of the comm. layer)
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#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 ///< Length of MAVLink1 core header (of the comm. layer)
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#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and stx
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#define MAVLINK_NUM_CHECKSUM_BYTES 2
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#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
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#define MAVLINK_SIGNATURE_BLOCK_LEN 13
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#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) ///< Maximum packet length
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/**
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* Old-style 4 byte param union
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*
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* This struct is the data format to be used when sending
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* parameters. The parameter should be copied to the native
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* type (without type conversion)
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* and re-instanted on the receiving side using the
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* native type as well.
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*/
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MAVPACKED(
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typedef struct param_union {
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union {
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float param_float;
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int32_t param_int32;
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uint32_t param_uint32;
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int16_t param_int16;
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uint16_t param_uint16;
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int8_t param_int8;
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uint8_t param_uint8;
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uint8_t bytes[4];
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};
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uint8_t type;
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}) mavlink_param_union_t;
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/**
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* New-style 8 byte param union
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* mavlink_param_union_double_t will be 8 bytes long, and treated as needing 8 byte alignment for the purposes of MAVLink 1.0 field ordering.
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* The mavlink_param_union_double_t will be treated as a little-endian structure.
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*
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* If is_double is 1 then the type is a double, and the remaining 63 bits are the double, with the lowest bit of the mantissa zero.
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* The intention is that by replacing the is_double bit with 0 the type can be directly used as a double (as the is_double bit corresponds to the
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* lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union.
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* The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above,
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* as bitfield ordering isn't consistent between platforms. The above is intended to be for gcc on x86,
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* which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number,
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* and the bits pulled out using the shifts/masks.
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*/
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MAVPACKED(
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typedef struct param_union_extended {
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union {
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struct {
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uint8_t is_double:1;
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uint8_t mavlink_type:7;
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union {
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char c;
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uint8_t uint8;
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int8_t int8;
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uint16_t uint16;
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int16_t int16;
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uint32_t uint32;
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int32_t int32;
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float f;
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uint8_t align[7];
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};
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};
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uint8_t data[8];
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};
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}) mavlink_param_union_double_t;
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/**
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* This structure is required to make the mavlink_send_xxx convenience functions
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* work, as it tells the library what the current system and component ID are.
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*/
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MAVPACKED(
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typedef struct __mavlink_system {
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uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function
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uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function
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}) mavlink_system_t;
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MAVPACKED(
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typedef struct __mavlink_message {
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uint16_t checksum; ///< sent at end of packet
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uint8_t magic; ///< protocol magic marker
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uint8_t len; ///< Length of payload
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uint8_t incompat_flags; ///< flags that must be understood
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uint8_t compat_flags; ///< flags that can be ignored if not understood
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uint8_t seq; ///< Sequence of packet
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uint8_t sysid; ///< ID of message sender system/aircraft
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uint8_t compid; ///< ID of the message sender component
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uint32_t msgid:24; ///< ID of message in payload
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uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
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uint8_t ck[2]; ///< incoming checksum bytes
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uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];
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}) mavlink_message_t;
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typedef enum {
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MAVLINK_TYPE_CHAR = 0,
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MAVLINK_TYPE_UINT8_T = 1,
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MAVLINK_TYPE_INT8_T = 2,
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MAVLINK_TYPE_UINT16_T = 3,
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MAVLINK_TYPE_INT16_T = 4,
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MAVLINK_TYPE_UINT32_T = 5,
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MAVLINK_TYPE_INT32_T = 6,
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MAVLINK_TYPE_UINT64_T = 7,
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MAVLINK_TYPE_INT64_T = 8,
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MAVLINK_TYPE_FLOAT = 9,
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MAVLINK_TYPE_DOUBLE = 10
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} mavlink_message_type_t;
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#define MAVLINK_MAX_FIELDS 64
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typedef struct __mavlink_field_info {
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const char *name; // name of this field
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const char *print_format; // printing format hint, or NULL
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mavlink_message_type_t type; // type of this field
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unsigned int array_length; // if non-zero, field is an array
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unsigned int wire_offset; // offset of each field in the payload
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unsigned int structure_offset; // offset in a C structure
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} mavlink_field_info_t;
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// note that in this structure the order of fields is the order
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// in the XML file, not necessary the wire order
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typedef struct __mavlink_message_info {
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uint32_t msgid; // message ID
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const char *name; // name of the message
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unsigned num_fields; // how many fields in this message
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mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
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} mavlink_message_info_t;
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#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
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#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
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// checksum is immediately after the payload bytes
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#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
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#ifndef HAVE_MAVLINK_CHANNEL_T
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typedef enum {
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MAVLINK_COMM_0,
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MAVLINK_COMM_1,
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MAVLINK_COMM_2,
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MAVLINK_COMM_3
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} mavlink_channel_t;
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#endif
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/*
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* applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
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* of buffers they will use. If more are used, then the result will be
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* a stack overrun
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*/
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#ifndef MAVLINK_COMM_NUM_BUFFERS
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#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32)
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# define MAVLINK_COMM_NUM_BUFFERS 16
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#else
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# define MAVLINK_COMM_NUM_BUFFERS 4
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#endif
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#endif
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typedef enum {
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MAVLINK_PARSE_STATE_UNINIT=0,
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MAVLINK_PARSE_STATE_IDLE,
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MAVLINK_PARSE_STATE_GOT_STX,
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MAVLINK_PARSE_STATE_GOT_LENGTH,
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MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS,
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MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS,
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MAVLINK_PARSE_STATE_GOT_SEQ,
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MAVLINK_PARSE_STATE_GOT_SYSID,
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MAVLINK_PARSE_STATE_GOT_COMPID,
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MAVLINK_PARSE_STATE_GOT_MSGID1,
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MAVLINK_PARSE_STATE_GOT_MSGID2,
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MAVLINK_PARSE_STATE_GOT_MSGID3,
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MAVLINK_PARSE_STATE_GOT_PAYLOAD,
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MAVLINK_PARSE_STATE_GOT_CRC1,
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MAVLINK_PARSE_STATE_GOT_BAD_CRC1,
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MAVLINK_PARSE_STATE_SIGNATURE_WAIT
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} mavlink_parse_state_t; ///< The state machine for the comm parser
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typedef enum {
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MAVLINK_FRAMING_INCOMPLETE=0,
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MAVLINK_FRAMING_OK=1,
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MAVLINK_FRAMING_BAD_CRC=2,
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MAVLINK_FRAMING_BAD_SIGNATURE=3
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} mavlink_framing_t;
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#define MAVLINK_STATUS_FLAG_IN_MAVLINK1 1 // last incoming packet was MAVLink1
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#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default
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#define MAVLINK_STATUS_FLAG_IN_SIGNED 4 // last incoming packet was signed and validated
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#define MAVLINK_STATUS_FLAG_IN_BADSIG 8 // last incoming packet had a bad signature
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#define MAVLINK_STX_MAVLINK1 0xFE // marker for old protocol
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typedef struct __mavlink_status {
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uint8_t msg_received; ///< Number of received messages
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uint8_t buffer_overrun; ///< Number of buffer overruns
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uint8_t parse_error; ///< Number of parse errors
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mavlink_parse_state_t parse_state; ///< Parsing state machine
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uint8_t packet_idx; ///< Index in current packet
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uint8_t current_rx_seq; ///< Sequence number of last packet received
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uint8_t current_tx_seq; ///< Sequence number of last packet sent
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uint16_t packet_rx_success_count; ///< Received packets
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uint16_t packet_rx_drop_count; ///< Number of packet drops
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uint8_t flags; ///< MAVLINK_STATUS_FLAG_*
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uint8_t signature_wait; ///< number of signature bytes left to receive
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struct __mavlink_signing *signing; ///< optional signing state
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struct __mavlink_signing_streams *signing_streams; ///< global record of stream timestamps
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} mavlink_status_t;
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/*
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a callback function to allow for accepting unsigned packets
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*/
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typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32_t msgid);
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/*
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flags controlling signing
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*/
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#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1 ///< Enable outgoing signing
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/*
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state of MAVLink signing for this channel
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*/
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typedef struct __mavlink_signing {
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uint8_t flags; ///< MAVLINK_SIGNING_FLAG_*
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uint8_t link_id; ///< Same as MAVLINK_CHANNEL
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uint64_t timestamp; ///< Timestamp, in microseconds since UNIX epoch GMT
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uint8_t secret_key[32];
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mavlink_accept_unsigned_t accept_unsigned_callback;
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} mavlink_signing_t;
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/*
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timestamp state of each logical signing stream. This needs to be the same structure for all
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connections in order to be secure
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*/
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#ifndef MAVLINK_MAX_SIGNING_STREAMS
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#define MAVLINK_MAX_SIGNING_STREAMS 16
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#endif
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typedef struct __mavlink_signing_streams {
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uint16_t num_signing_streams;
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struct __mavlink_signing_stream {
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uint8_t link_id; ///< ID of the link (MAVLINK_CHANNEL)
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uint8_t sysid; ///< Remote system ID
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uint8_t compid; ///< Remote component ID
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uint8_t timestamp_bytes[6]; ///< Timestamp, in microseconds since UNIX epoch GMT
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} stream[MAVLINK_MAX_SIGNING_STREAMS];
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} mavlink_signing_streams_t;
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#define MAVLINK_BIG_ENDIAN 0
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#define MAVLINK_LITTLE_ENDIAN 1
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#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM 1
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#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT 2
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/*
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entry in table of information about each message type
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*/
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typedef struct __mavlink_msg_entry {
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uint32_t msgid;
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uint8_t crc_extra;
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uint8_t min_msg_len; // minimum message length
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uint8_t max_msg_len; // maximum message length (e.g. including mavlink2 extensions)
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uint8_t flags; // MAV_MSG_ENTRY_FLAG_*
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uint8_t target_system_ofs; // payload offset to target_system, or 0
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uint8_t target_component_ofs; // payload offset to target_component, or 0
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} mavlink_msg_entry_t;
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/*
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incompat_flags bits
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*/
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#define MAVLINK_IFLAG_SIGNED 0x01
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#define MAVLINK_IFLAG_MASK 0x01 // mask of all understood bits
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#ifdef MAVLINK_USE_CXX_NAMESPACE
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} // namespace mavlink
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#endif
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