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Add --force-pack option for ESP32 and platforms with non-standard alignment #1117

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Add --force-pack option for ESP32 and platforms with non-standard alignment #1117

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b7bfbea
Add --force-pack option for ESP32 and platforms with non-standard ali…
Bwooce Aug 15, 2025
800e1f7
Merge branch 'master' into add-esp32-struct-packing-support
Bwooce Aug 16, 2025
ae3ca5b
Merge branch 'master' into add-esp32-struct-packing-support
Bwooce Aug 26, 2025
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20 changes: 11 additions & 9 deletions generator/mavgen_c.py
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Original file line number Diff line number Diff line change
Expand Up @@ -227,7 +227,7 @@ def generate_message_h(directory, m):
mavlink_${name_lower}_t packet;
${{scalar_fields: packet.${name} = ${putname};
}}
${{array_fields: mav_array_assign_${type}(packet.${name}, ${name}, ${array_length});
${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
}}
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_${name}_LEN);
#endif
Expand Down Expand Up @@ -299,7 +299,7 @@ def generate_message_h(directory, m):
mavlink_${name_lower}_t packet;
${{scalar_fields: packet.${name} = ${putname};
}}
${{array_fields: mav_array_assign_${type}(packet.${name}, ${name}, ${array_length});
${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
}}
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_${name}_LEN);
#endif
Expand Down Expand Up @@ -371,7 +371,7 @@ def generate_message_h(directory, m):
mavlink_${name_lower}_t packet;
${{scalar_fields: packet.${name} = ${putname};
}}
${{array_fields: mav_array_assign_${type}(packet.${name}, ${name}, ${array_length});
${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
}}
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, MAVLINK_MSG_ID_${name}_MIN_LEN, MAVLINK_MSG_ID_${name}_LEN, MAVLINK_MSG_ID_${name}_CRC);
#endif
Expand All @@ -393,7 +393,7 @@ def generate_message_h(directory, m):

#if MAVLINK_MSG_ID_${name}_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This variant of _send() can be used to save stack space by reusing
This variant of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
Expand All @@ -412,7 +412,7 @@ def generate_message_h(directory, m):
mavlink_${name_lower}_t *packet = (mavlink_${name_lower}_t *)msgbuf;
${{scalar_fields: packet->${name} = ${putname};
}}
${{array_fields: mav_array_assign_${type}(packet->${name}, ${name}, ${array_length});
${{array_fields: mav_array_memcpy(packet->${name}, ${name}, sizeof(${type})*${array_length});
}}
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)packet, MAVLINK_MSG_ID_${name}_MIN_LEN, MAVLINK_MSG_ID_${name}_LEN, MAVLINK_MSG_ID_${name}_CRC);
#endif
Expand Down Expand Up @@ -588,7 +588,7 @@ class mav_include(object):
def __init__(self, base):
self.base = base

def generate_one(basename, xml):
def generate_one(basename, xml, opts=None):
'''generate headers for one XML file'''

directory = os.path.join(basename, xml.basename)
Expand Down Expand Up @@ -723,7 +723,9 @@ def generate_one(basename, xml):
f.c_test_value = "%sLL" % f.test_value
else:
f.c_test_value = f.test_value
if m.needs_pack:
# Check if forced struct packing is enabled (useful for platforms like ESP32)
force_pack = getattr(opts, 'force_pack', False)
if m.needs_pack or force_pack:
m.MAVPACKED_START = "MAVPACKED("
m.MAVPACKED_END = ")"
else:
Expand Down Expand Up @@ -755,11 +757,11 @@ def generate_one(basename, xml):
generate_testsuite_h(directory, xml)


def generate(basename, xml_list):
def generate(basename, xml_list, opts=None):
'''generate complete MAVLink C implemenation'''

for idx in range(len(xml_list)):
xml = xml_list[idx]
xml.xml_hash = hash(xml.basename)
generate_one(basename, xml)
generate_one(basename, xml, opts)
copy_fixed_headers(basename, xml_list[0])
1 change: 1 addition & 0 deletions tools/mavgen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
parser.add_argument("--wire-protocol", choices=[mavparse.PROTOCOL_0_9, mavparse.PROTOCOL_1_0, mavparse.PROTOCOL_2_0], default=mavgen.DEFAULT_WIRE_PROTOCOL, help="MAVLink protocol version. [default: %(default)s]")
parser.add_argument("--no-validate", action="store_false", dest="validate", default=mavgen.DEFAULT_VALIDATE, help="Do not perform XML validation. Can speed up code generation if XML files are known to be correct.")
parser.add_argument("--strict-units", action="store_true", dest="strict_units", default=mavgen.DEFAULT_STRICT_UNITS, help="Perform validation of units attributes.")
parser.add_argument("--force-pack", action="store_true", dest="force_pack", default=False, help="Force struct packing on all messages (useful for platforms with different alignment like ESP32).")
parser.add_argument("definitions", metavar="XML", nargs="+", help="MAVLink definitions")
args = parser.parse_args()

Expand Down