添加MAVLINK消息解析

app/drivers/sertrf/protocol/mavlink_control.h

@@ -0,0 +1,107 @@
+#pragma once
+
+#ifndef MAVLINK_CONTROL_H
+#define MAVLINK_CONTROL_H
+
+//关闭针对mavlink的警告
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Waddress-of-packed-member"
+#include <common/mavlink.h>
+#pragma GCC diagnostic pop
+
+
+
+
+struct Mavlink_Messages {
+
+	int sysid;
+	int compid;
+
+	// Heartbeat
+	mavlink_heartbeat_t heartbeat;
+
+	// System Status
+	mavlink_sys_status_t sys_status;
+
+	// Battery Status
+	mavlink_battery_status_t battery_status;
+
+	// Radio Status
+	mavlink_radio_status_t radio_status;
+
+	// Local Position
+	mavlink_local_position_ned_t local_position_ned;
+
+	// Global Position
+	mavlink_global_position_int_t global_position_int;
+
+	// Local Position Target
+	mavlink_position_target_local_ned_t position_target_local_ned;
+
+	// Global Position Target
+	mavlink_position_target_global_int_t position_target_global_int;
+
+	// HiRes IMU
+	mavlink_highres_imu_t highres_imu;
+
+	// Attitude
+	mavlink_attitude_t attitude;
+
+	// System Parameters?
+
+};
+
+typedef struct {
+
+    mavlink_status_t lastStatus;
+    struct Mavlink_Messages current_messages;
+    
+    bool debug;
+
+	int (*read)(void *data, uint32_t size, uint32_t wait_ms);
+	int (*write)(const void *data, uint32_t size, uint32_t wait_ms);
+}mavlink_device_t;
+/**
+ * @brief 初始化mavlink
+ * 
+ * @param mavlink_device 接口
+ */
+void mavlink_init(mavlink_device_t* mavlink_device);
+/**
+ * @brief MAVLINK消息解析
+ * 
+ * @param mavlink_device 接口
+ * @param message 解析成功存放消息
+ * @param cp 数据
+ */
+int mavlink_message(mavlink_device_t* mavlink_device, mavlink_message_t* message,uint8_t cp);
+/**
+ * @brief MAVLINK消息发送
+ * 
+ * @param mavlink_device 接口
+ * @param message 需要发送的消息
+ */
+int write_message(mavlink_device_t* mavlink_device, const mavlink_message_t *message);
+/**
+ * @brief MAVLINK消息处理
+ * 
+ * @param mavlink_device 接口
+ * @param message 需要处理的消息
+ */
+void mavlik_packet_processing(mavlink_device_t* mavlink_device, mavlink_message_t* message);
+/**
+ * @brief MAVLINK消息接收 （针对需要自己进行读操作）
+ * 
+ * @param mavlink_device 接口
+ */
+void mavlink_recv_loop(mavlink_device_t* mavlink_device);
+/**
+ * @brief MAVLINK消息接收（针对已获取到数据缓存）
+ * 
+ * @param mavlink_device 接口
+ * @param data 数据
+ * @param size 大小
+ */
+void mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t size);
+
+#endif