添加MAVLINK协议库

app/drivers/sertrf/protocol/mavlinkv2/mavlink_get_info.h

@@ -0,0 +1,71 @@
+#pragma once
+
+#ifdef MAVLINK_USE_MESSAGE_INFO
+#define MAVLINK_HAVE_GET_MESSAGE_INFO
+
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_id(uint32_t msgid)
+{
+	static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
+        /*
+	  use a bisection search to find the right entry. A perfect hash may be better
+	  Note that this assumes the table is sorted with primary key msgid
+	*/
+        uint32_t low=0, high=sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
+        while (low < high) {
+            uint32_t mid = (low+1+high)/2;
+            if (msgid < mavlink_message_info[mid].msgid) {
+                high = mid-1;
+                continue;
+            }
+            if (msgid > mavlink_message_info[mid].msgid) {
+                low = mid;
+                continue;
+            }
+            low = mid;
+            break;
+        }
+        if (mavlink_message_info[low].msgid == msgid) {
+            return &mavlink_message_info[low];
+        }
+        return NULL;
+}
+
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
+{
+    return mavlink_get_message_info_by_id(msg->msgid);
+}
+
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(const char *name)
+{
+	static const struct { const char *name; uint32_t msgid; } mavlink_message_names[] = MAVLINK_MESSAGE_NAMES;
+        /*
+	  use a bisection search to find the right entry. A perfect hash may be better
+	  Note that this assumes the table is sorted with primary key name
+	*/
+        uint32_t low=0, high=sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]);
+        while (low < high) {
+            uint32_t mid = (low+1+high)/2;
+	    int cmp = strcmp(mavlink_message_names[mid].name, name);
+	    if (cmp == 0) {
+		    return mavlink_get_message_info_by_id(mavlink_message_names[mid].msgid);
+	    }
+            if (cmp > 0) {
+                high = mid-1;
+            } else {
+                low = mid;
+            }
+        }
+        return NULL;
+}
+#endif // MAVLINK_USE_MESSAGE_INFO
+
+