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Add mavlink docs

This commit is contained in:
Adrian Zankich 2014-09-26 19:30:52 -07:00
parent 086fa1efd4
commit 8e1d9e3a1d
3 changed files with 3035 additions and 1537 deletions
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4483
platforms/mavlink/common/common.go
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File diff suppressed because it is too large Load Diff

71
platforms/mavlink/common/mavlink.go
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@ -1,9 +1,9 @@
package mavlink package mavlink
/** @file //
* @brief MAVLink comm protocol built from common.xml // MAVLink comm protocol built from common.xml
* @see http://pixhawk.ethz.ch/software/mavlink // http://pixhawk.ethz.ch/software/mavlink
*/ //
import ( import (
"bytes" "bytes"
@ -12,14 +12,16 @@ import (
"time" "time"
) )
const MAVLINK_BIG_ENDIAN = 0 const (
const MAVLINK_LITTLE_ENDIAN = 1 MAVLINK_BIG_ENDIAN = 0
const MAVLINK_STX = 254 MAVLINK_LITTLE_ENDIAN = 1
const MAVLINK_ENDIAN = MAVLINK_LITTLE_ENDIAN MAVLINK_STX = 254
const MAVLINK_ALIGNED_FIELDS = 1 MAVLINK_ENDIAN = MAVLINK_LITTLE_ENDIAN
const MAVLINK_CRC_EXTRA = 1 MAVLINK_ALIGNED_FIELDS = 1
const X25_INIT_CRC = 0xffff MAVLINK_CRC_EXTRA = 1
const X25_VALIDATE_CRC = 0xf0b8 X25_INIT_CRC = 0xffff
X25_VALIDATE_CRC = 0xf0b8
)
var sequence uint16 = 0 var sequence uint16 = 0
@ -28,6 +30,7 @@ func generateSequence() uint8 {
return uint8(sequence) return uint8(sequence)
} }
// The MAVLinkMessage interface is implemented by MAVLink messages
type MAVLinkMessage interface { type MAVLinkMessage interface {
Id() uint8 Id() uint8
Len() uint8 Len() uint8
@ -36,6 +39,7 @@ type MAVLinkMessage interface {
Decode([]byte) Decode([]byte)
} }
// A MAVLinkPacket represents a raw packet received from a micro air vehicle
type MAVLinkPacket struct { type MAVLinkPacket struct {
Protocol uint8 Protocol uint8
Length uint8 Length uint8
@ -47,6 +51,8 @@ type MAVLinkPacket struct {
Checksum uint16 Checksum uint16
} }
// ReadMAVLinkPacket reads an io.Reader for a new packet and returns a new MAVLink packet
// or returns the error received by the io.Reader
func ReadMAVLinkPacket(r io.Reader) (*MAVLinkPacket, error) { func ReadMAVLinkPacket(r io.Reader) (*MAVLinkPacket, error) {
for { for {
header, err := read(r, 1) header, err := read(r, 1)
@ -72,6 +78,7 @@ func ReadMAVLinkPacket(r io.Reader) (*MAVLinkPacket, error) {
} }
} }
// CraftMAVLinkPacket returns a new MAVLinkPacket from a MAVLinkMessage
func CraftMAVLinkPacket(SystemID uint8, ComponentID uint8, Message MAVLinkMessage) *MAVLinkPacket { func CraftMAVLinkPacket(SystemID uint8, ComponentID uint8, Message MAVLinkMessage) *MAVLinkPacket {
return NewMAVLinkPacket( return NewMAVLinkPacket(
0xFE, 0xFE,
@ -84,6 +91,7 @@ func CraftMAVLinkPacket(SystemID uint8, ComponentID uint8, Message MAVLinkMessag
) )
} }
// NewMAVLinkPacket returns a new MAVLinkPacket
func NewMAVLinkPacket(Protocol uint8, Length uint8, Sequence uint8, SystemID uint8, ComponentID uint8, MessageID uint8, Data []uint8) *MAVLinkPacket { func NewMAVLinkPacket(Protocol uint8, Length uint8, Sequence uint8, SystemID uint8, ComponentID uint8, MessageID uint8, Data []uint8) *MAVLinkPacket {
m := &MAVLinkPacket{ m := &MAVLinkPacket{
Protocol: Protocol, Protocol: Protocol,
@ -98,10 +106,13 @@ func NewMAVLinkPacket(Protocol uint8, Length uint8, Sequence uint8, SystemID uin
return m return m
} }
// MAVLinkMessage returns the decoded MAVLinkMessage from the MAVLinkPacket
// or returns an error generated from the MAVLinkMessage
func (m *MAVLinkPacket) MAVLinkMessage() (MAVLinkMessage, error) { func (m *MAVLinkPacket) MAVLinkMessage() (MAVLinkMessage, error) {
return NewMAVLinkMessage(m.MessageID, m.Data) return NewMAVLinkMessage(m.MessageID, m.Data)
} }
// Pack returns a packed byte array which represents the MAVLinkPacket
func (m *MAVLinkPacket) Pack() []byte { func (m *MAVLinkPacket) Pack() []byte {
data := new(bytes.Buffer) data := new(bytes.Buffer)
binary.Write(data, binary.LittleEndian, m.Protocol) binary.Write(data, binary.LittleEndian, m.Protocol)
@ -115,6 +126,7 @@ func (m *MAVLinkPacket) Pack() []byte {
return data.Bytes() return data.Bytes()
} }
// Decode accepts a packed byte array and populates the fields of the MAVLinkPacket
func (m *MAVLinkPacket) Decode(buf []byte) { func (m *MAVLinkPacket) Decode(buf []byte) {
m.Protocol = buf[0] m.Protocol = buf[0]
m.Length = buf[1] m.Length = buf[1]
@ -147,15 +159,15 @@ func read(r io.Reader, length int) ([]byte, error) {
return buf, nil return buf, nil
} }
/** //
* @brief Accumulate the X.25 CRC by adding one char at a time. // Accumulate the X.25 CRC by adding one char at a time.
* //
* The checksum function adds the hash of one char at a time to the // The checksum function adds the hash of one char at a time to the
* 16 bit checksum (uint16). // 16 bit checksum (uint16).
* //
* @param data to hash // data to hash
* @param crcAccum the already accumulated checksum // crcAccum the already accumulated checksum
**/ //
func crcAccumulate(data uint8, crcAccum uint16) uint16 { func crcAccumulate(data uint8, crcAccum uint16) uint16 {
/*Accumulate one byte of data into the CRC*/ /*Accumulate one byte of data into the CRC*/
var tmp uint8 var tmp uint8
@ -166,19 +178,18 @@ func crcAccumulate(data uint8, crcAccum uint16) uint16 {
return crcAccum return crcAccum
} }
/** //
* @brief Initiliaze the buffer for the X.25 CRC // Initiliaze the buffer for the X.25 CRC
* //
*/
func crcInit() uint16 { func crcInit() uint16 {
return X25_INIT_CRC return X25_INIT_CRC
} }
/** //
* @brief Calculates the X.25 checksum on a byte buffer // Calculates the X.25 checksum on a byte buffer
* //
* @return the checksum over the buffer bytes // return the checksum over the buffer bytes
**/ //
func crcCalculate(m *MAVLinkPacket) uint16 { func crcCalculate(m *MAVLinkPacket) uint16 {
crc := crcInit() crc := crcInit()

18
platforms/mavlink/common/version.go
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@ -1,11 +1,13 @@
package mavlink package mavlink
/** @file //
* @brief MAVLink comm protocol built from common.xml // MAVLink comm protocol built from common.xml
* @see http://pixhawk.ethz.ch/software/mavlink // http://pixhawk.ethz.ch/software/mavlink
*/ //
const MAVLINK_BUILD_DATE = "Thu Jul 31 22:19:34 2014" const (
const MAVLINK_WIRE_PROTOCOL_VERSION = "1.0" MAVLINK_BUILD_DATE = "Fri Sep 26 19:23:02 2014"
const MAVLINK_MAX_DIALECT_PAYLOAD_SIZE = 255 MAVLINK_WIRE_PROTOCOL_VERSION = "1.0"
const MAVLINK_VERSION = 3 MAVLINK_MAX_DIALECT_PAYLOAD_SIZE = 255
MAVLINK_VERSION = 3
)