regenerate mavlink headers with new mavlink protocol and update instructions

Author: JMoore5353

comms/mavlink/generating_v1.0_instructions.txt

@@ -1,13 +1,12 @@
 # get the mavlink/mavlink repository
-# git clone https://github.com/rosflight/mavlink.git
-git clone https://github.com/mavlink/mavlink.git
+git clone https://github.com/mavlink/mavlink.git --recursive
 
 # Go to your rosflight_firmware/comms/mavlink folder
 # Put the rosflight.xml file there if not already there
 
 # Create the .c/h files from that directory
 # If python3 doesn't work try installing future (pip install future).
-# If that doesn't work install Python2.7 and run with python2.7 instead.
+# If that doesn't work install Python3.8 and run with python3.8 instead.
 # in windows:
 rmdir /s v1.0 
 set PYTHONPATH=%PYTHONPATH%;path\to\mavlink\repo && python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml

comms/mavlink/rosflight.xml

@@ -1,29 +1,6 @@
 <?xml version="1.0"?>
 <?note
-# get the mavlink/mavlink repository
-git clone https://github.com/rosflight/mavlink.git
-
-# Go to your rosflight_firmware/comms/mavlink folder
-# Put the rosflight.xml file there if not already there
-
-# Create the .c/h files from that directory
-# If python3 doesn't work try installing future (pip install future).
-# If that doesn't work install Python2.7 and run with python2.7 instead.
-# in windows:
-rmdir /s v1.0 
-set PYTHONPATH=%PYTHONPATH%;path\to\mavlink\repo && python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml
-
-# e.g., 
-rmdir /s v1.0 
-set PYTHONPATH=%PYTHONPATH%;C:\Projects\mavlink && python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml
-
-# in Linux:
-sudo rm -r ./v1.0
-PYTHONPATH=$PYTHONPATH:/path/to/mavlink/repo python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=./v1.0 rosflight.xml
-
-# If you are in the mavlink repo environment with rosflight.xml in the standard location:
-python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=1.0 --output=generated/include/mavlink/v1.0 message_definitions/v1.0/rosflight.xml
-# copy/paste the v1.0 directory into your rosflight_firmware/comms/mavlink folder
+See the generating_v1.0_instructions.txt to regenerate mavlink headers based off this file.
 ?>
 <mavlink>
     <enums>

comms/mavlink/v1.0/checksum.h

@@ -23,7 +23,7 @@ extern "C" {
 
 #ifndef HAVE_CRC_ACCUMULATE
 /**
- * @brief Accumulate the X.25 CRC by adding one char at a time.
+ * @brief Accumulate the MCRF4XX CRC16 by adding one char at a time.
  *
  * The checksum function adds the hash of one char at a time to the
  * 16 bit checksum (uint16_t).
@@ -44,9 +44,9 @@ static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
 
 
 /**
- * @brief Initiliaze the buffer for the X.25 CRC
+ * @brief Initialize the buffer for the MCRF4XX CRC16
  *
- * @param crcAccum the 16 bit X.25 CRC
+ * @param crcAccum the 16 bit MCRF4XX CRC16
  */
 static inline void crc_init(uint16_t* crcAccum)
 {
@@ -55,7 +55,7 @@ static inline void crc_init(uint16_t* crcAccum)
 
 
 /**
- * @brief Calculates the X.25 checksum on a byte buffer
+ * @brief Calculates the MCRF4XX CRC16 checksum on a byte buffer
  *
  * @param  pBuffer buffer containing the byte array to hash
  * @param  length  length of the byte array
@@ -73,7 +73,7 @@ static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
 
 
 /**
- * @brief Accumulate the X.25 CRC by adding an array of bytes
+ * @brief Accumulate the MCRF4XX CRC16 CRC by adding an array of bytes
  *
  * The checksum function adds the hash of one char at a time to the
  * 16 bit checksum (uint16_t).

comms/mavlink/v1.0/mavlink_conversions.h

@@ -1,6 +1,8 @@
 #ifndef  _MAVLINK_CONVERSIONS_H_
 #define  _MAVLINK_CONVERSIONS_H_
 
+#ifndef MAVLINK_NO_CONVERSION_HELPERS
+
 /* enable math defines on Windows */
 #ifdef _MSC_VER
 #ifndef _USE_MATH_DEFINES
@@ -208,4 +210,7 @@ MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, flo
     dcm[2][2] = cosPhi * cosThe;
 }
 
-#endif
+#endif // MAVLINK_NO_CONVERSION_HELPERS
+
+#endif // _MAVLINK_CONVERSIONS_H_
+

comms/mavlink/v1.0/mavlink_helpers.h

@@ -52,6 +52,46 @@ MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
 	status->parse_state = MAVLINK_PARSE_STATE_IDLE;
 }
 
+/**
+ * @brief Finalize a MAVLink message with channel assignment
+ *
+ * This function calculates the checksum and sets length and aircraft id correctly.
+ * It assumes that the message id and the payload are already correctly set. This function
+ * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
+ * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
+ *
+ * @param msg Message to finalize
+ * @param system_id Id of the sending (this) system, 1-127
+ * @param length Message length
+ */
+#if MAVLINK_CRC_EXTRA
+MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+                                                        mavlink_status_t* status, uint8_t min_length, uint8_t length, uint8_t crc_extra)
+#else
+MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
+                                                        mavlink_status_t* status, uint8_t length)
+#endif
+{
+	// This is only used for the v2 protocol and we silence it here
+	(void)min_length;
+	// This code part is the same for all messages;
+	msg->magic = MAVLINK_STX;
+	msg->len = length;
+	msg->sysid = system_id;
+	msg->compid = component_id;
+    msg->seq = status->current_tx_seq;
+    status->current_tx_seq = status->current_tx_seq+1;
+	msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
+	crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
+#if MAVLINK_CRC_EXTRA
+	crc_accumulate(crc_extra, &msg->checksum);
+#endif
+	mavlink_ck_a(msg) = (uint8_t)(msg->checksum & 0xFF);
+	mavlink_ck_b(msg) = (uint8_t)(msg->checksum >> 8);
+
+	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+}
+
 /**
  * @brief Finalize a MAVLink message with channel assignment
  *
@@ -66,12 +106,14 @@ MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan)
  */
 #if MAVLINK_CRC_EXTRA
 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						      uint8_t chan, uint8_t length, uint8_t crc_extra)
+						      uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra)
 #else
 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
 						      uint8_t chan, uint8_t length)
 #endif
 {
+    // This is only used for the v2 protocol and we silence it here
+	(void)min_length;
 	// This code part is the same for all messages;
 	msg->magic = MAVLINK_STX;
 	msg->len = length;
@@ -97,9 +139,9 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
  */
 #if MAVLINK_CRC_EXTRA
 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra)
+						 uint8_t min_length, uint8_t length, uint8_t crc_extra)
 {
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
+    return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, min_length, length, crc_extra);
 }
 #else
 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
@@ -117,7 +159,7 @@ MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf,
  */
 #if MAVLINK_CRC_EXTRA
 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra)
+						    uint8_t min_length, uint8_t length, uint8_t crc_extra)
 #else
 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
 #endif
@@ -204,38 +246,17 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
 }
 
 /**
- * This is a varient of mavlink_frame_char() but with caller supplied
+ * This is a variant of mavlink_frame_char() but with caller supplied
  * parsing buffers. It is useful when you want to create a MAVLink
  * parser in a library that doesn't use any global variables
  *
  * @param rxmsg    parsing message buffer
- * @param status   parsing starus buffer 
+ * @param status   parsing status buffer 
  * @param c        The char to parse
  *
- * @param returnMsg NULL if no message could be decoded, the message data else
- * @param returnStats if a message was decoded, this is filled with the channel's stats
+ * @param r_message NULL if no message could be decoded, otherwise the message data
+ * @param r_mavlink_status if a message was decoded, this is filled with the channel's stats
  * @return 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC
- *
- * A typical use scenario of this function call is:
- *
- * @code
- * #include <mavlink.h>
- *
- * mavlink_message_t msg;
- * int chan = 0;
- *
- *
- * while(serial.bytesAvailable > 0)
- * {
- *   uint8_t byte = serial.getNextByte();
- *   if (mavlink_frame_char(chan, byte, &msg) != MAVLINK_FRAMING_INCOMPLETE)
- *     {
- *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
- *     }
- * }
- *
- *
- * @endcode
  */
 MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg, 
                                                  mavlink_status_t* status,
@@ -267,8 +288,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
 #endif
 #endif
 
-	int bufferIndex = 0;
-
 	status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
 
 	switch (status->parse_state)
@@ -383,8 +402,7 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
 		break;
 	}
 
-	bufferIndex++;
-	// If a message has been sucessfully decoded, check index
+	// If a message has been successfully decoded, check index
 	if (status->msg_received == MAVLINK_FRAMING_OK)
 	{
 		//while(status->current_seq != rxmsg->seq)
@@ -428,32 +446,33 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
  * 2 (MAVLINK_FRAMING_INCOMPLETE, MAVLINK_FRAMING_OK or MAVLINK_FRAMING_BAD_CRC)
  *
  * Messages are parsed into an internal buffer (one for each channel). When a complete
- * message is received it is copies into *returnMsg and the channel's status is
- * copied into *returnStats.
+ * message is received it is copies into *r_message and the channel's status is
+ * copied into *r_mavlink_status.
  *
- * @param chan     ID of the current channel. This allows to parse different channels with this function.
- *                 a channel is not a physical message channel like a serial port, but a logic partition of
- *                 the communication streams in this case. COMM_NB is the limit for the number of channels
+ * @param chan     ID of the channel to be parsed.
+ *                 A channel is not a physical message channel like a serial port, but a logical partition of
+ *                 the communication streams. COMM_NB is the limit for the number of channels
  *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
  * @param c        The char to parse
  *
- * @param returnMsg NULL if no message could be decoded, the message data else
- * @param returnStats if a message was decoded, this is filled with the channel's stats
+ * @param r_message NULL if no message could be decoded, the message data else
+ * @param r_mavlink_status if a message was decoded, this is filled with the channel's stats
  * @return 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC
  *
  * A typical use scenario of this function call is:
  *
  * @code
  * #include <mavlink.h>
  *
+ * mavlink_status_t status;
  * mavlink_message_t msg;
  * int chan = 0;
  *
  *
  * while(serial.bytesAvailable > 0)
  * {
  *   uint8_t byte = serial.getNextByte();
- *   if (mavlink_frame_char(chan, byte, &msg) != MAVLINK_FRAMING_INCOMPLETE)
+ *   if (mavlink_frame_char(chan, byte, &msg, &status) != MAVLINK_FRAMING_INCOMPLETE)
  *     {
  *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
  *     }
@@ -478,32 +497,33 @@ MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_messa
  * it could be successfully decoded. This function will return 0 or 1.
  *
  * Messages are parsed into an internal buffer (one for each channel). When a complete
- * message is received it is copies into *returnMsg and the channel's status is
- * copied into *returnStats.
+ * message is received it is copies into *r_message and the channel's status is
+ * copied into *r_mavlink_status.
  *
- * @param chan     ID of the current channel. This allows to parse different channels with this function.
- *                 a channel is not a physical message channel like a serial port, but a logic partition of
- *                 the communication streams in this case. COMM_NB is the limit for the number of channels
+ * @param chan     ID of the channel to be parsed.
+ *                 A channel is not a physical message channel like a serial port, but a logical partition of
+ *                 the communication streams. COMM_NB is the limit for the number of channels
  *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
  * @param c        The char to parse
  *
- * @param returnMsg NULL if no message could be decoded, the message data else
- * @param returnStats if a message was decoded, this is filled with the channel's stats
+ * @param r_message NULL if no message could be decoded, otherwise the message data.
+ * @param r_mavlink_status if a message was decoded, this is filled with the channel's stats
  * @return 0 if no message could be decoded or bad CRC, 1 on good message and CRC
  *
  * A typical use scenario of this function call is:
  *
  * @code
  * #include <mavlink.h>
  *
+ * mavlink_status_t status;
  * mavlink_message_t msg;
  * int chan = 0;
  *
  *
  * while(serial.bytesAvailable > 0)
  * {
  *   uint8_t byte = serial.getNextByte();
- *   if (mavlink_parse_char(chan, byte, &msg))
+ *   if (mavlink_parse_char(chan, byte, &msg, &status))
  *     {
  *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
  *     }

comms/mavlink/v1.0/mavlink_types.h

@@ -170,12 +170,14 @@ typedef struct __mavlink_message_info {
 #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))
 
+#ifndef HAVE_MAVLINK_CHANNEL_T
 typedef enum {
     MAVLINK_COMM_0,
     MAVLINK_COMM_1,
     MAVLINK_COMM_2,
     MAVLINK_COMM_3
 } mavlink_channel_t;
+#endif
 
 /*
  * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number