mavlink_stream.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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 * 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 
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 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
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 ******************************************************************************/

/*******************************************************************************
 * \file mavlink_stream.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief A wrapper for MAVLink to use the stream interface
 *
 ******************************************************************************/


#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include <stdbool.h>
#include "streams.h"

// #if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
    // #define NATIVE_BIG_ENDIAN
// #endif

// #define IS_BIG_ENDIAN (*(uint16_t *)"\0\xff" < 0x100)
// #if IS_BIG_ENDIAN
    // #define NATIVE_BIG_ENDIAN
// #endif

#ifndef __ENDIAN_LITTLE__
    #define NATIVE_BIG_ENDIAN
#endif


#include "mavlink/include/mavric/mavlink.h"


#define MAVLINK_BASE_STATION_ID 255


typedef struct 
{
    mavlink_message_t msg;          
    mavlink_status_t status;        
} mavlink_received_t;


typedef struct
{
    byte_stream_t* tx;      
    byte_stream_t* rx;      
    uint32_t sysid;         
    uint32_t compid;        
    mavlink_received_t rec; 
    bool msg_available;     
    bool use_dma;           
} mavlink_stream_t;


typedef struct 
{
    uint32_t sysid;                 
    uint32_t compid;                
    bool use_dma;
} mavlink_stream_conf_t;


void mavlink_stream_init(mavlink_stream_t* mavlink_stream, const mavlink_stream_conf_t* config, byte_stream_t* rx_stream, byte_stream_t* tx_stream);


void mavlink_stream_send(const mavlink_stream_t* mavlink_stream, mavlink_message_t* msg);


void mavlink_stream_receive(mavlink_stream_t* mavlink_stream);


void mavlink_stream_flush(mavlink_stream_t* mavlink_stream);


#ifdef __cplusplus
}
#endif

#endif /* MAVLINK_STREAM_H */