Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 romolo.manfredini@gmail.com
|
f2ff5bccd3 |
@@ -0,0 +1,206 @@
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||||
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/*****************************************************************************/
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#define TWI_CMD_PAGEUPDATE 0x01 // TWI Command to program a flash page
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#define TWI_CMD_EXECUTEAPP 0x02 // TWI Command to jump to the application program
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#define TWI_CMD_SETREAD_ADDRESS 0x03 // TWI Command to set address to read from
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#define TWI_CMD_WRITE_DATA 0x04 // TWI Command send data to the application
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#define TWI_CMD_REBOOT 0x55 // TWI Command to restart back in the bootloader
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#define TWI_SUBCMD_SETDATETIME 0x74 // TWI Command to set the date and time
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//#define TWI_CMD_BVERSION 0x04 // TWI Command to get the bootloader revision identifier
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//#define TWI_CMD_ERASEFLASH 0x05 // TWI Command to erase the entire application section of flash memory
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//#define TWI_CMD_GETERRCONDN 0x07 // TWI Command to get Error condition
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/*****************************************************************************/
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//#define BOOT_SETTLE_DELAY 100 // Debounce delay for the boot pin in MCU cycles
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//#define SLAVE_ADDRESS 0xb0 // The address identifier of this slave device on the TWI (I2C) bus
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#define INTVECT_PAGE_ADDRESS 0x000 // The location of the start of the interrupt vector table address
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// Select the communcation interfacing type: TWI or USI
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/*#if defined(__ATTINY25__) | defined(__ATTINY25V__) | \
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defined(__ATTINY45__) | defined(__ATTINY45V__) | \
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defined(__ATTINY85__) | defined(__ATTINY85V__) | \
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defined(__ATTINY24__) | defined(__ATTINY24A__) | \
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defined(__ATTINY44__) | defined(__ATTINY44A__) | \
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defined(__ATTINY84__) | defined(__ATTINY84A__) | \
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defined(__ATTINY2313__) | defined(__ATTINY2313A__) | \
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defined(__ATTINY4313__) | defined(__ATTINY4313A__) | \
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defined(__ATTINY261__) | defined(__ATTINY261A__) | \
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defined(__ATTINY461__) | defined(__ATTINY461A__) | \
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defined(__ATTINY861__) | defined(__ATTINY861A__) | \
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defined(__ATTINY43U__) | \
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defined(__ATTINY87__) | \
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defined(__ATTINY167__)
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#define __USI__ // set the communication type as USI
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#endif */
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#define __USI__ // set the communication type as USI
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/*#if defined(__ATTINY48__) | defined(__ATTINY88__) | \
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defined(__ATMEGA48A__) | defined(__ATMEGA48PA__) | \
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defined(__ATMEGA48__)
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#define __TWI__
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#endif */
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/***************************************************************/
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// Page size selection for the controller with 2K flash
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/*#if defined(__ATTINY25__) | defined(__ATTINY25V__) | \
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defined(__ATTINY24__) | defined(__ATTINY24A__) | \
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defined(__ATTINY2313__) | defined(__ATTINY2313A__) | \
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defined(__ATTINY261__) | defined(__ATTINY261A__)
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// The flash memory page size for these devices
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#define PAGE_SIZE 32
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// Page 32, the start of bootloader section
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#define BOOT_PAGE_ADDRESS 0X0400
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// 2KB of flash divided by pages of size 32 bytes
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#define TOTAL_NO_OF_PAGES 64
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// The number of pages being used for bootloader code
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#define BOOTLOADER_PAGES (TOTAL_NO_OF_PAGES - BOOT_PAGE_ADDRESS/PAGE_SIZE)
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// For bounds check during page write/erase operation to protect the bootloader code from being corrupted
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#define LAST_PAGE_NO_TO_BE_ERASED (TOTAL_NO_OF_PAGES - BOOTLOADER_PAGES)
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#endif */
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// Page size selection for the controller with 4K flash
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/*#if defined(__ATTINY45__) | defined(__ATTINY45V__) | \
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defined(__ATTINY44__) | defined(__ATTINY44A__) | \
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defined(__ATTINY4313__) | defined(__ATTINY4313A__) | \
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defined(__ATTINY461__) | defined(__ATTINY461A__) | \
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defined(__ATTINY43U__) | \
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defined(__ATTINY48__) | \
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defined(__ATMEGA48__) | \
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defined(__ATMEGA48A__) | defined(__ATMEGA48PA__)
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// The flash memory page size for these devices
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#define PAGE_SIZE 64
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// Page 48, the start of bootloader section
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#define BOOT_PAGE_ADDRESS 0X0C00
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// 4KB of flash divided by pages of size 64 bytes
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#define TOTAL_NO_OF_PAGES 64
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// The number of pages being used for bootloader code
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#define BOOTLOADER_PAGES (TOTAL_NO_OF_PAGES - BOOT_PAGE_ADDRESS/PAGE_SIZE)
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// For bounds check during page write/erase operation to protect the bootloader code from being corrupted
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#define LAST_PAGE_NO_TO_BE_ERASED (TOTAL_NO_OF_PAGES - BOOTLOADER_PAGES)
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#endif */
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// Page size selection for the controller with 8K flash
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/*#if defined(__ATTINY85__) | defined(__ATTINY85V__) | \
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defined(__ATTINY84__) | defined(__ATTINY84A__) | \
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defined(__ATTINY861__) | defined(__ATTINY861A__) | \
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defined(__ATTINY87__) | \
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defined(__ATTINY88__)
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// The flash memory page size for these devices
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#define PAGE_SIZE 64
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// Page 112, the start of bootloader section
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#define BOOT_PAGE_ADDRESS 0X1C00
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// 8KB of flash divided by pages of size 64 bytes
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#define TOTAL_NO_OF_PAGES 128
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// The number of pages being used for bootloader code
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#define BOOTLOADER_PAGES (TOTAL_NO_OF_PAGES - BOOT_PAGE_ADDRESS/PAGE_SIZE)
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// // For bounds check during page write/erase operation to protect the bootloader code from being corrupted
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// #define LAST_PAGE_NO_TO_BE_ERASED (TOTAL_NO_OF_PAGES - BOOTLOADER_PAGES)
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//#endif*/
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// Page size selection for the controller with 16K flash
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//#if defined(__ATTINY167__)
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// The flash memory page size for Atiny167
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#define PAGE_SIZE 128
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// Page 120, the start of bootloader section
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#define BOOT_PAGE_ADDRESS 0X3800
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// 16KB of flash divided by pages of size 128 bytes
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#define TOTAL_NO_OF_PAGES 128
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// The number of pages being used for bootloader code
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#define BOOTLOADER_PAGES (TOTAL_NO_OF_PAGES - BOOT_PAGE_ADDRESS/PAGE_SIZE)
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// For bounds check during page write/erase operation to protect the bootloader code from being corrupted
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#define LAST_PAGE_NO_TO_BE_ERASED (TOTAL_NO_OF_PAGES - BOOTLOADER_PAGES)
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//#endif
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/*****************************************************************************/
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/*****************************************************************************/
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// Select the correct Bit name of to SELFPROGRAMming
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/*#if defined(__ATTINY48__) | defined(__ATTINY48A__) | \
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defined(__ATTINY88__) | defined(__ATTINY88A__) | \
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defined(__ATMEGA48__) | \
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defined(__ATMEGA48A__) | defined(__ATMEGA48PA__)
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#define SELFPROGEN SELFPRGEN
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#endif */
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/*****************************************************************************/
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/*****************************************************************************/
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/*#if defined(__ATTINY25__) | defined(__ATTINY25V__) | \
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defined(__ATTINY45__) | defined(__ATTINY45V__) | \
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defined(__ATTINY85__) | defined(__ATTINY85V__) | \
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defined(__ATTINY87__) | defined(__ATTINY167__) */
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#define SELFPROGEN SPMEN
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//#endif
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/*****************************************************************************/
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/*****************************************************************************/
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#define WDT_TIMEOUT_8s ( _BV( WDP3 ) | _BV( WDP0 ) ) // Watchdog timeout for inactivity in the boot section
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#define WDT_TIMEOUT_16ms 0 // Watchdog timeout for system reset (cleanup) before jump to application
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#define WDT_TIMEOUT_min WDT_TIMEOUT_16ms // The minimum watchdog reset time interval for jump to application
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/*****************************************************************************/
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/*****************************************************************************/
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#define STATUSMASK_SPMBUSY 0x01 // The mask bit for SPM busy status code
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#define STATUSMASK_BLSCERR 0x02 // The mask bit for attempt to override bootloader section
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#define STATUSMASK_TWIABORT 0x04 // The mask bit for indicating TWI abort fn called
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#define STATUSMASK_SLTR_BUSY 0x08 // The mask bit for slave transmit
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#define STATUSMASK_SLRBAA_BUSY 0x10 // The mask bit for slave receive and ack
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#define STATUSMASK_SLRBAN_BUSY 0x20 // The mask bit for slave receive and Nack
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#define STATUSMASK_EEPROM_BUSY 0x40 // The mask bit for EEPROM busy
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#define STATUSMASK_BOOTLOADER 0x80 // The mask bit for bootloader operations
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/*****************************************************************************/
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/*****************************************************************************/
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#define EEMEM_ADDR_AVERSION 0x05 // The address in EEPROM where application revision identifier will be stored
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#define BVERSION 0x96 // This bootloader revision identifier
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//static void UpdatePage (uint16_t);
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#ifndef _BV
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#define _BV( __BIT_POSITION__ ) ( 1 << __BIT_POSITION__ )
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#endif
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//#ifdef _BV
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//#warning _BV now stands defined
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//#endif
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@@ -0,0 +1,624 @@
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# Hey Emacs, this is a -*- makefile -*-
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#----------------------------------------------------------------------------
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# WinAVR Makefile
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||||
#
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# On command line:
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#
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# make all = Make software.
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||||
#
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||||
# make clean = Clean out built project files.
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||||
#
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||||
# make coff = Convert ELF to AVR COFF.
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||||
#
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# make extcoff = Convert ELF to AVR Extended COFF.
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||||
#
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# make program = Download the hex file to the device, using avrdude.
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||||
# Please customize the avrdude settings below first!
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#
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# make debug = Start either simulavr or avarice as specified for debugging,
|
||||
# with avr-gdb or avr-insight as the front end for debugging.
|
||||
#
|
||||
# make filename.s = Just compile filename.c into the assembler code only.
|
||||
#
|
||||
# make filename.i = Create a preprocessed source file for use in submitting
|
||||
# bug reports to the GCC project.
|
||||
#
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||||
# To rebuild project do "make clean" then "make all".
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||||
#----------------------------------------------------------------------------
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||||
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# MCU name
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MCU = attiny167
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||||
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||||
# Processor frequency.
|
||||
# This will define a symbol, F_CPU, in all source code files equal to the
|
||||
# processor frequency. You can then use this symbol in your source code to
|
||||
# calculate timings. Do NOT tack on a 'UL' at the end, this will be done
|
||||
# automatically to create a 32-bit value in your source code.
|
||||
# Typical values are:
|
||||
# F_CPU = 1000000
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||||
# F_CPU = 1843200
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||||
# F_CPU = 2000000
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||||
# F_CPU = 3686400
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||||
# F_CPU = 4000000
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||||
# F_CPU = 7372800
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||||
# F_CPU = 8000000
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||||
# F_CPU = 11059200
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||||
# F_CPU = 14745600
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||||
# F_CPU = 16000000
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||||
# F_CPU = 18432000
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||||
# F_CPU = 20000000
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||||
F_CPU = 8000000
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||||
|
||||
|
||||
# Output format. (can be srec, ihex, binary)
|
||||
FORMAT = ihex
|
||||
|
||||
|
||||
# Target file name (without extension).
|
||||
TARGET = TinyApp
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||||
|
||||
|
||||
# Object files directory
|
||||
# To put object files in current directory, use a dot (.), do NOT make
|
||||
# this an empty or blank macro!
|
||||
OBJDIR = .
|
||||
|
||||
|
||||
# List C source files here. (C dependencies are automatically generated.)
|
||||
SRC = $(TARGET).c
|
||||
|
||||
|
||||
# List C++ source files here. (C dependencies are automatically generated.)
|
||||
CPPSRC =
|
||||
|
||||
|
||||
# List Assembler source files here.
|
||||
# Make them always end in a capital .S. Files ending in a lowercase .s
|
||||
# will not be considered source files but generated files (assembler
|
||||
# output from the compiler), and will be deleted upon "make clean"!
|
||||
# Even though the DOS/Win* filesystem matches both .s and .S the same,
|
||||
# it will preserve the spelling of the filenames, and gcc itself does
|
||||
# care about how the name is spelled on its command-line.
|
||||
ASRC =
|
||||
|
||||
|
||||
# Optimization level, can be [0, 1, 2, 3, s].
|
||||
# 0 = turn off optimization. s = optimize for size.
|
||||
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
||||
OPT = s
|
||||
|
||||
|
||||
# Debugging format.
|
||||
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
|
||||
# AVR Studio 4.10 requires dwarf-2.
|
||||
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
|
||||
#DEBUG = stabs
|
||||
DEBUG = dwarf-2
|
||||
|
||||
|
||||
# List any extra directories to look for include files here.
|
||||
# Each directory must be seperated by a space.
|
||||
# Use forward slashes for directory separators.
|
||||
# For a directory that has spaces, enclose it in quotes.
|
||||
EXTRAINCDIRS = c:\progs\iccv7avr\include
|
||||
|
||||
|
||||
# Compiler flag to set the C Standard level.
|
||||
# c89 = "ANSI" C
|
||||
# gnu89 = c89 plus GCC extensions
|
||||
# c99 = ISO C99 standard (not yet fully implemented)
|
||||
# gnu99 = c99 plus GCC extensions
|
||||
CSTANDARD = -std=gnu99
|
||||
|
||||
|
||||
# Place -D or -U options here for C sources
|
||||
CDEFS = -DF_CPU=$(F_CPU)UL
|
||||
|
||||
|
||||
# Place -D or -U options here for ASM sources
|
||||
ADEFS = -DF_CPU=$(F_CPU)
|
||||
|
||||
|
||||
# Place -D or -U options here for C++ sources
|
||||
CPPDEFS = -DF_CPU=$(F_CPU)UL
|
||||
#CPPDEFS += -D__STDC_LIMIT_MACROS
|
||||
#CPPDEFS += -D__STDC_CONSTANT_MACROS
|
||||
|
||||
|
||||
|
||||
#---------------- Compiler Options C ----------------
|
||||
# -g*: generate debugging information
|
||||
# -O*: optimization level
|
||||
# -f...: tuning, see GCC manual and avr-libc documentation
|
||||
# -Wall...: warning level
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns...: create assembler listing
|
||||
CFLAGS = -g$(DEBUG)
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += -O$(OPT)
|
||||
CFLAGS += -funsigned-char
|
||||
CFLAGS += -funsigned-bitfields
|
||||
CFLAGS += -fpack-struct
|
||||
CFLAGS += -fshort-enums
|
||||
CFLAGS += -Wall
|
||||
CFLAGS += -Wno-main
|
||||
CFLAGS += -Wstrict-prototypes
|
||||
#CFLAGS += -mshort-calls
|
||||
#CFLAGS += -fno-unit-at-a-time
|
||||
#CFLAGS += -Wundef
|
||||
#CFLAGS += -Wunreachable-code
|
||||
#CFLAGS += -Wsign-compare
|
||||
CFLAGS += -Wa,-adlns=$(<:%.c=$(OBJDIR)/%.lst)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
CFLAGS += $(CSTANDARD)
|
||||
# Next line dumps rtl file
|
||||
#CFLAGS += -dr
|
||||
#CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
|
||||
|
||||
|
||||
#---------------- Compiler Options C++ ----------------
|
||||
# -g*: generate debugging information
|
||||
# -O*: optimization level
|
||||
# -f...: tuning, see GCC manual and avr-libc documentation
|
||||
# -Wall...: warning level
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns...: create assembler listing
|
||||
CPPFLAGS = -g$(DEBUG)
|
||||
CPPFLAGS += $(CPPDEFS)
|
||||
CPPFLAGS += -O$(OPT)
|
||||
CPPFLAGS += -funsigned-char
|
||||
CPPFLAGS += -funsigned-bitfields
|
||||
CPPFLAGS += -fpack-struct
|
||||
CPPFLAGS += -fshort-enums
|
||||
CPPFLAGS += -fno-exceptions
|
||||
CPPFLAGS += -Wall
|
||||
CFLAGS += -Wundef
|
||||
#CPPFLAGS += -mshort-calls
|
||||
#CPPFLAGS += -fno-unit-at-a-time
|
||||
#CPPFLAGS += -Wstrict-prototypes
|
||||
#CPPFLAGS += -Wunreachable-code
|
||||
#CPPFLAGS += -Wsign-compare
|
||||
CPPFLAGS += -Wa,-adlns=$(<:%.cpp=$(OBJDIR)/%.lst)
|
||||
CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
||||
#CPPFLAGS += $(CSTANDARD)
|
||||
#CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
|
||||
|
||||
|
||||
#---------------- Assembler Options ----------------
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -adhlns: create listing
|
||||
# -gstabs: have the assembler create line number information; note that
|
||||
# for use in COFF files, additional information about filenames
|
||||
# and function names needs to be present in the assembler source
|
||||
# files -- see avr-libc docs [FIXME: not yet described there]
|
||||
# -listing-cont-lines: Sets the maximum number of continuation lines of hex
|
||||
# dump that will be displayed for a given single line of source input.
|
||||
ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
|
||||
|
||||
|
||||
#---------------- Library Options ----------------
|
||||
# Minimalistic printf version
|
||||
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
|
||||
|
||||
# Floating point printf version (requires MATH_LIB = -lm below)
|
||||
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
|
||||
|
||||
# If this is left blank, then it will use the Standard printf version.
|
||||
PRINTF_LIB =
|
||||
#PRINTF_LIB = $(PRINTF_LIB_MIN)
|
||||
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
|
||||
|
||||
|
||||
# Minimalistic scanf version
|
||||
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
|
||||
|
||||
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
|
||||
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
|
||||
|
||||
# If this is left blank, then it will use the Standard scanf version.
|
||||
SCANF_LIB =
|
||||
#SCANF_LIB = $(SCANF_LIB_MIN)
|
||||
#SCANF_LIB = $(SCANF_LIB_FLOAT)
|
||||
|
||||
|
||||
MATH_LIB = -lm
|
||||
|
||||
|
||||
# List any extra directories to look for libraries here.
|
||||
# Each directory must be seperated by a space.
|
||||
# Use forward slashes for directory separators.
|
||||
# For a directory that has spaces, enclose it in quotes.
|
||||
EXTRALIBDIRS =
|
||||
|
||||
|
||||
|
||||
#---------------- External Memory Options ----------------
|
||||
|
||||
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
|
||||
# used for variables (.data/.bss) and heap (malloc()).
|
||||
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
|
||||
|
||||
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
|
||||
# only used for heap (malloc()).
|
||||
#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
|
||||
|
||||
EXTMEMOPTS =
|
||||
|
||||
|
||||
|
||||
#---------------- Linker Options ----------------
|
||||
# -Wl,...: tell GCC to pass this to linker.
|
||||
# -Map: create map file
|
||||
# --cref: add cross reference to map file
|
||||
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
|
||||
LDFLAGS += $(EXTMEMOPTS)
|
||||
LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
|
||||
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
|
||||
LDFLAGS += -Wl,--section-start=.text=0x00D0
|
||||
LDFLAGS += -Wl,--section-start=.vectors=0x0080
|
||||
LDFLAGS += -T avr3-167.ld
|
||||
LDFLAGS += -N
|
||||
|
||||
|
||||
|
||||
#---------------- Programming Options (avrdude) ----------------
|
||||
|
||||
# Programming hardware: alf avr910 avrisp bascom bsd
|
||||
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
|
||||
#
|
||||
# Type: avrdude -c ?
|
||||
# to get a full listing.
|
||||
#
|
||||
AVRDUDE_PROGRAMMER = stk500
|
||||
|
||||
# com1 = serial port. Use lpt1 to connect to parallel port.
|
||||
AVRDUDE_PORT = com3
|
||||
|
||||
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
|
||||
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
|
||||
|
||||
|
||||
# Uncomment the following if you want avrdude's erase cycle counter.
|
||||
# Note that this counter needs to be initialized first using -Yn,
|
||||
# see avrdude manual.
|
||||
#AVRDUDE_ERASE_COUNTER = -y
|
||||
|
||||
# Uncomment the following if you do /not/ wish a verification to be
|
||||
# performed after programming the device.
|
||||
#AVRDUDE_NO_VERIFY = -V
|
||||
|
||||
# Increase verbosity level. Please use this when submitting bug
|
||||
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
|
||||
# to submit bug reports.
|
||||
#AVRDUDE_VERBOSE = -v -v
|
||||
|
||||
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
|
||||
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
|
||||
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
|
||||
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
|
||||
|
||||
|
||||
|
||||
#---------------- Debugging Options ----------------
|
||||
|
||||
# For simulavr only - target MCU frequency.
|
||||
DEBUG_MFREQ = $(F_CPU)
|
||||
|
||||
# Set the DEBUG_UI to either gdb or insight.
|
||||
# DEBUG_UI = gdb
|
||||
DEBUG_UI = insight
|
||||
|
||||
# Set the debugging back-end to either avarice, simulavr.
|
||||
DEBUG_BACKEND = avarice
|
||||
#DEBUG_BACKEND = simulavr
|
||||
|
||||
# GDB Init Filename.
|
||||
GDBINIT_FILE = __avr_gdbinit
|
||||
|
||||
# When using avarice settings for the JTAG
|
||||
JTAG_DEV = /dev/com1
|
||||
|
||||
# Debugging port used to communicate between GDB / avarice / simulavr.
|
||||
DEBUG_PORT = 4242
|
||||
|
||||
# Debugging host used to communicate between GDB / avarice / simulavr, normally
|
||||
# just set to localhost unless doing some sort of crazy debugging when
|
||||
# avarice is running on a different computer.
|
||||
DEBUG_HOST = localhost
|
||||
|
||||
|
||||
|
||||
#============================================================================
|
||||
|
||||
|
||||
# Define programs and commands.
|
||||
SHELL = sh
|
||||
CC = avr-gcc
|
||||
OBJCOPY = avr-objcopy
|
||||
OBJDUMP = avr-objdump
|
||||
SIZE = avr-size
|
||||
AR = avr-ar rcs
|
||||
NM = avr-nm
|
||||
AVRDUDE = avrdude
|
||||
REMOVE = rm -f
|
||||
REMOVEDIR = rm -rf
|
||||
COPY = cp
|
||||
WINSHELL = cmd
|
||||
|
||||
|
||||
# Define Messages
|
||||
# English
|
||||
MSG_ERRORS_NONE = Errors: none
|
||||
MSG_BEGIN = -------- begin --------
|
||||
MSG_END = -------- end --------
|
||||
MSG_SIZE_BEFORE = Size before:
|
||||
MSG_SIZE_AFTER = Size after:
|
||||
MSG_COFF = Converting to AVR COFF:
|
||||
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
|
||||
MSG_FLASH = Creating load file for Flash:
|
||||
MSG_EEPROM = Creating load file for EEPROM:
|
||||
MSG_EXTENDED_LISTING = Creating Extended Listing:
|
||||
MSG_SYMBOL_TABLE = Creating Symbol Table:
|
||||
MSG_LINKING = Linking:
|
||||
MSG_COMPILING = Compiling C:
|
||||
MSG_COMPILING_CPP = Compiling C++:
|
||||
MSG_ASSEMBLING = Assembling:
|
||||
MSG_CLEANING = Cleaning project:
|
||||
MSG_CREATING_LIBRARY = Creating library:
|
||||
|
||||
|
||||
|
||||
|
||||
# Define all object files.
|
||||
OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
|
||||
|
||||
# Define all listing files.
|
||||
LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
|
||||
|
||||
|
||||
# Compiler flags to generate dependency files.
|
||||
GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
|
||||
|
||||
|
||||
# Combine all necessary flags and optional flags.
|
||||
# Add target processor to flags.
|
||||
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
|
||||
ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
|
||||
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# Default target.
|
||||
all: begin gccversion sizebefore build sizeafter end
|
||||
|
||||
# Change the build target to build a HEX file or a library.
|
||||
build: elf hex eep lss sym bin
|
||||
#build: lib
|
||||
|
||||
|
||||
elf: $(TARGET).elf
|
||||
hex: $(TARGET).hex
|
||||
bin: $(TARGET).bin
|
||||
eep: $(TARGET).eep
|
||||
lss: $(TARGET).lss
|
||||
sym: $(TARGET).sym
|
||||
LIBNAME=lib$(TARGET).a
|
||||
lib: $(LIBNAME)
|
||||
|
||||
|
||||
|
||||
# Eye candy.
|
||||
# AVR Studio 3.x does not check make's exit code but relies on
|
||||
# the following magic strings to be generated by the compile job.
|
||||
begin:
|
||||
@echo
|
||||
@echo $(MSG_BEGIN)
|
||||
|
||||
end:
|
||||
@echo $(MSG_END)
|
||||
@echo
|
||||
|
||||
|
||||
# Display size of file.
|
||||
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
|
||||
ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf
|
||||
|
||||
sizebefore:
|
||||
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
|
||||
2>/dev/null; echo; fi
|
||||
|
||||
sizeafter:
|
||||
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
|
||||
2>/dev/null; echo; fi
|
||||
|
||||
|
||||
|
||||
# Display compiler version information.
|
||||
gccversion :
|
||||
@$(CC) --version
|
||||
|
||||
|
||||
|
||||
# Program the device.
|
||||
program: $(TARGET).hex $(TARGET).eep
|
||||
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
|
||||
|
||||
|
||||
# Generate avr-gdb config/init file which does the following:
|
||||
# define the reset signal, load the target file, connect to target, and set
|
||||
# a breakpoint at main().
|
||||
gdb-config:
|
||||
@$(REMOVE) $(GDBINIT_FILE)
|
||||
@echo define reset >> $(GDBINIT_FILE)
|
||||
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
|
||||
@echo end >> $(GDBINIT_FILE)
|
||||
@echo file $(TARGET).elf >> $(GDBINIT_FILE)
|
||||
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE)
|
||||
ifeq ($(DEBUG_BACKEND),simulavr)
|
||||
@echo load >> $(GDBINIT_FILE)
|
||||
endif
|
||||
@echo break main >> $(GDBINIT_FILE)
|
||||
|
||||
debug: gdb-config $(TARGET).elf
|
||||
ifeq ($(DEBUG_BACKEND), avarice)
|
||||
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
|
||||
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
|
||||
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
|
||||
@$(WINSHELL) /c pause
|
||||
|
||||
else
|
||||
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
|
||||
$(DEBUG_MFREQ) --port $(DEBUG_PORT)
|
||||
endif
|
||||
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
|
||||
|
||||
|
||||
|
||||
|
||||
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
|
||||
COFFCONVERT = $(OBJCOPY) --debugging
|
||||
COFFCONVERT += --change-section-address .data-0x800000
|
||||
COFFCONVERT += --change-section-address .bss-0x800000
|
||||
COFFCONVERT += --change-section-address .noinit-0x800000
|
||||
COFFCONVERT += --change-section-address .eeprom-0x810000
|
||||
|
||||
|
||||
|
||||
coff: $(TARGET).elf
|
||||
@echo
|
||||
@echo $(MSG_COFF) $(TARGET).cof
|
||||
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
|
||||
|
||||
|
||||
extcoff: $(TARGET).elf
|
||||
@echo
|
||||
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
|
||||
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
|
||||
|
||||
|
||||
|
||||
# Create final output files (.hex, .eep) from ELF output file.
|
||||
%.hex: %.elf
|
||||
@echo
|
||||
@echo $(MSG_FLASH) $@
|
||||
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
|
||||
|
||||
%.bin: %.elf
|
||||
$(OBJCOPY) -O binary $< $@
|
||||
|
||||
%.eep: %.elf
|
||||
@echo
|
||||
@echo $(MSG_EEPROM) $@
|
||||
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
|
||||
--change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0
|
||||
|
||||
# Create extended listing file from ELF output file.
|
||||
%.lss: %.elf
|
||||
@echo
|
||||
@echo $(MSG_EXTENDED_LISTING) $@
|
||||
$(OBJDUMP) -h -S $< > $@
|
||||
|
||||
# Create a symbol table from ELF output file.
|
||||
%.sym: %.elf
|
||||
@echo
|
||||
@echo $(MSG_SYMBOL_TABLE) $@
|
||||
$(NM) -n $< > $@
|
||||
|
||||
|
||||
|
||||
# Create library from object files.
|
||||
.SECONDARY : $(TARGET).a
|
||||
.PRECIOUS : $(OBJ)
|
||||
%.a: $(OBJ)
|
||||
@echo
|
||||
@echo $(MSG_CREATING_LIBRARY) $@
|
||||
$(AR) $@ $(OBJ)
|
||||
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
.SECONDARY : $(TARGET).elf
|
||||
.PRECIOUS : $(OBJ)
|
||||
%.elf: $(OBJ)
|
||||
@echo
|
||||
@echo $(MSG_LINKING) $@
|
||||
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
|
||||
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(OBJDIR)/%.o : %.c
|
||||
@echo
|
||||
@echo $(MSG_COMPILING) $<
|
||||
$(CC) -c $(ALL_CFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(OBJDIR)/%.o : %.cpp
|
||||
@echo
|
||||
@echo $(MSG_COMPILING_CPP) $<
|
||||
$(CC) -c $(ALL_CPPFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Compile: create assembler files from C source files.
|
||||
%.s : %.c
|
||||
$(CC) -S $(ALL_CFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Compile: create assembler files from C++ source files.
|
||||
%.s : %.cpp
|
||||
$(CC) -S $(ALL_CPPFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(OBJDIR)/%.o : %.S
|
||||
@echo
|
||||
@echo $(MSG_ASSEMBLING) $<
|
||||
$(CC) -c $(ALL_ASFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Create preprocessed source for use in sending a bug report.
|
||||
%.i : %.c
|
||||
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Target: clean project.
|
||||
clean: begin clean_list end
|
||||
|
||||
clean_list :
|
||||
@echo
|
||||
@echo $(MSG_CLEANING)
|
||||
$(REMOVE) $(TARGET).bin
|
||||
$(REMOVE) $(TARGET).hex
|
||||
$(REMOVE) $(TARGET).eep
|
||||
$(REMOVE) $(TARGET).cof
|
||||
$(REMOVE) $(TARGET).elf
|
||||
$(REMOVE) $(TARGET).map
|
||||
$(REMOVE) $(TARGET).sym
|
||||
$(REMOVE) $(TARGET).lss
|
||||
$(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o)
|
||||
$(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst)
|
||||
$(REMOVE) $(SRC:.c=.s)
|
||||
$(REMOVE) $(SRC:.c=.d)
|
||||
$(REMOVE) $(SRC:.c=.i)
|
||||
$(REMOVEDIR) .dep
|
||||
|
||||
|
||||
# Create object files directory
|
||||
$(shell mkdir $(OBJDIR) 2>/dev/null)
|
||||
|
||||
|
||||
# Include the dependency files.
|
||||
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
|
||||
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all begin finish end sizebefore sizeafter gccversion \
|
||||
build elf hex eep lss sym coff extcoff \
|
||||
clean clean_list program debug gdb-config
|
||||
|
||||
|
||||
|
||||
|
||||
+1070
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,174 @@
|
||||
#ifdef __USI__
|
||||
|
||||
/****************************************************************************/
|
||||
static void USI_TWI_SLAVE_Init( void );
|
||||
static void USI_TWI_SLAVE_Abort(void);
|
||||
static void USI_TWI_SLAVE_ReadAndProcessPacket(void);
|
||||
static void USI_TWI_SLAVE_Process_Start_Condition(void);
|
||||
void USI_TWI_SLAVE_Process_Overflow_Condition(void);
|
||||
|
||||
// void prog_buffer_set_byte(uint8_t );
|
||||
|
||||
// uint8_t bootloader_exit;
|
||||
uint8_t Run_boot ;
|
||||
|
||||
|
||||
#define TRUE 1
|
||||
#define FALSE 0
|
||||
|
||||
// TWI write states.
|
||||
#define USI_TWI_SLAVE_WRITE_ADDR_HI_BYTE (0x00)
|
||||
#define USI_TWI_SLAVE_WRITE_ADDR_LO_BYTE (0x01)
|
||||
#define USI_TWI_SLAVE_WRITE_DATA_BYTE (0x02)
|
||||
|
||||
// TWI overflow states.
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_NONE (0x00)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_ACK_PR_RX (0x01)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_DATA_RX (0x02)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_ACK_PR_TX (0x03)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_PR_ACK_TX (0x04)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_DATA_TX (0x05)
|
||||
|
||||
// newly added ..
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_CMD_RX (0x06)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_DATA_TX_AVERSION (0x07)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_DATA_TX_BVERSION (0x08)
|
||||
#define USI_TWI_SLAVE_OVERFLOW_STATE_DATA_TX_GETERRCONDN (0x09)
|
||||
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////
|
||||
// typedef unsigned char uint8_t;
|
||||
|
||||
//////////////////////////////////////////////////////////////////
|
||||
///////////////// Driver Buffer Definitions //////////////////////
|
||||
//////////////////////////////////////////////////////////////////
|
||||
// 1,2,4,8,16,32,64,128 or 256 bytes are allowed buffer sizes
|
||||
|
||||
#define TWI_RX_BUFFER_SIZE (16)
|
||||
#define TWI_RX_BUFFER_MASK ( TWI_RX_BUFFER_SIZE - 1 )
|
||||
|
||||
#if ( TWI_RX_BUFFER_SIZE & TWI_RX_BUFFER_MASK )
|
||||
#error TWI RX buffer size is not a power of 2
|
||||
#endif
|
||||
|
||||
// 1,2,4,8,16,32,64,128 or 256 bytes are allowed buffer sizes
|
||||
|
||||
#define TWI_TX_BUFFER_SIZE (16)
|
||||
#define TWI_TX_BUFFER_MASK ( TWI_TX_BUFFER_SIZE - 1 )
|
||||
|
||||
#if ( TWI_TX_BUFFER_SIZE & TWI_TX_BUFFER_MASK )
|
||||
#error TWI TX buffer size is not a power of 2
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#define USI_SLAVE_CHECK_ADDRESS (0x00)
|
||||
#define USI_SLAVE_SEND_DATA (0x01)
|
||||
#define USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA (0x02)
|
||||
#define USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA (0x03)
|
||||
#define USI_SLAVE_REQUEST_DATA (0x04)
|
||||
#define USI_SLAVE_GET_DATA_AND_SEND_ACK (0x05)
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
/*#if defined(__ATTINY2313__) | defined(__ATTINY2313A__) | \
|
||||
defined(__ATTINY4313__) | defined(__ATTINY4313A__) */
|
||||
|
||||
// #define DDR_USI DDRB
|
||||
// #define PORT_USI PORTB
|
||||
// #define PIN_USI PINB
|
||||
// #define PORT_USI_SDA PORTB5
|
||||
// #define PORT_USI_SCL PORTB7
|
||||
// #define PIN_USI_SDA PINB5
|
||||
// #define PIN_USI_SCL PINB7
|
||||
// #define USI_START_COND_INT USISIF
|
||||
// #define USI_START_VECTOR USI_STRT_vect
|
||||
// #define USI_OVERFLOW_VECTOR USI_OVF_vect
|
||||
//#endif
|
||||
|
||||
/*#if defined(__ATTINY25__) | defined(__ATTINY25V__) | \
|
||||
// defined(__ATTINY45__) | defined(__ATTINY45V__) | \
|
||||
// defined(__ATTINY85__) | defined(__ATTINY85V__) */
|
||||
// #define DDR_USI DDRB
|
||||
// #define PORT_USI PORTB
|
||||
// #define PIN_USI PINB
|
||||
// #define PORT_USI_SDA PORTB0
|
||||
// #define PORT_USI_SCL PORTB2
|
||||
// #define PIN_USI_SDA PINB0
|
||||
// #define PIN_USI_SCL PINB2
|
||||
// #define USI_START_COND_INT USICIF
|
||||
// #define USI_START_VECTOR USI_START_vect
|
||||
// #define USI_OVERFLOW_VECTOR USI_OVF_vect
|
||||
//#endif
|
||||
|
||||
/*#if defined(__ATTINY24__) | defined(__ATTINY24A__) | \
|
||||
defined(__ATTINY44__) | defined(__ATTINY44A__) | \
|
||||
defined(__ATTINY84__) | defined(__ATTINY84V__) */
|
||||
|
||||
// #define DDR_USI DDRA
|
||||
// #define PORT_USI PORTA
|
||||
// #define PIN_USI PINA
|
||||
// #define PORT_USI_SDA PORTA6
|
||||
// #define PORT_USI_SCL PORTA4
|
||||
// #define PIN_USI_SDA PINA6
|
||||
// #define PIN_USI_SCL PINA4
|
||||
// #define USI_START_COND_INT USISIF
|
||||
// #define USI_START_VECTOR USI_START_vect
|
||||
// #define USI_OVERFLOW_VECTOR USI_OVF_vect
|
||||
//#endif
|
||||
|
||||
|
||||
/*#if defined(__ATTINY261__) | defined(__ATTINY261A__) | \
|
||||
defined(__ATTINY461__) | defined(__ATTINY461A__) | \
|
||||
defined(__ATTINY861A__) | defined(__ATTINY861A__) */
|
||||
|
||||
// #define DDR_USI DDRB
|
||||
// #define PORT_USI PORTB
|
||||
// #define PIN_USI PINB
|
||||
// #define PORT_USI_SDA PORTB0
|
||||
// #define PORT_USI_SCL PORTB2
|
||||
// #define PIN_USI_SDA PINB0
|
||||
// #define PIN_USI_SCL PINB2
|
||||
// #define USI_START_COND_INT USISIF
|
||||
// #define USI_START_VECTOR USI_START_vect
|
||||
// #define USI_OVERFLOW_VECTOR USI_OVF_vect
|
||||
//#endif
|
||||
|
||||
|
||||
//#if defined(__ATTINY43U__)
|
||||
// #define DDR_USI DDRB
|
||||
// #define PORT_USI PORTB
|
||||
// #define PIN_USI PINB
|
||||
// #define PORT_USI_SDA PORTB4
|
||||
// #define PORT_USI_SCL PORTB6
|
||||
// #define PIN_USI_SDA PINB4
|
||||
// #define PIN_USI_SCL PINB6
|
||||
// #define USI_START_COND_INT USISIF
|
||||
// #define USI_START_VECTOR USI_START_vect
|
||||
// #define USI_OVERFLOW_VECTOR USI_OVF_vect
|
||||
//#endif
|
||||
|
||||
|
||||
//#if defined(__ATTINY87__) | defined(__ATTINY167__)
|
||||
|
||||
#define DDR_USI DDRB
|
||||
#define PORT_USI PORTB
|
||||
#define PIN_USI PINB
|
||||
#define PORT_USI_SDA PORTB0
|
||||
#define PORT_USI_SCL PORTB2
|
||||
#define PIN_USI_SDA PINB0
|
||||
#define PIN_USI_SCL PINB2
|
||||
#define USI_START_COND_INT USISIF
|
||||
#define USI_START_VECTOR USI_START_vect
|
||||
#define USI_OVERFLOW_VECTOR USI_OVF_vect
|
||||
//#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,231 @@
|
||||
/* Default linker script, for normal executables */
|
||||
OUTPUT_FORMAT("elf32-avr","elf32-avr","elf32-avr")
|
||||
OUTPUT_ARCH(avr:3)
|
||||
MEMORY
|
||||
{
|
||||
text (rx) : ORIGIN = 0, LENGTH = 16K
|
||||
data (rw!x) : ORIGIN = 0x800060, LENGTH = 0xffa0
|
||||
eeprom (rw!x) : ORIGIN = 0x810000, LENGTH = 64K
|
||||
fuse (rw!x) : ORIGIN = 0x820000, LENGTH = 1K
|
||||
lock (rw!x) : ORIGIN = 0x830000, LENGTH = 1K
|
||||
signature (rw!x) : ORIGIN = 0x840000, LENGTH = 1K
|
||||
}
|
||||
SECTIONS
|
||||
{
|
||||
/* Read-only sections, merged into text segment: */
|
||||
.hash : { *(.hash) }
|
||||
.dynsym : { *(.dynsym) }
|
||||
.dynstr : { *(.dynstr) }
|
||||
.gnu.version : { *(.gnu.version) }
|
||||
.gnu.version_d : { *(.gnu.version_d) }
|
||||
.gnu.version_r : { *(.gnu.version_r) }
|
||||
.rel.init : { *(.rel.init) }
|
||||
.rela.init : { *(.rela.init) }
|
||||
.rel.text :
|
||||
{
|
||||
*(.rel.text)
|
||||
*(.rel.text.*)
|
||||
*(.rel.gnu.linkonce.t*)
|
||||
}
|
||||
.rela.text :
|
||||
{
|
||||
*(.rela.text)
|
||||
*(.rela.text.*)
|
||||
*(.rela.gnu.linkonce.t*)
|
||||
}
|
||||
.rel.fini : { *(.rel.fini) }
|
||||
.rela.fini : { *(.rela.fini) }
|
||||
.rel.rodata :
|
||||
{
|
||||
*(.rel.rodata)
|
||||
*(.rel.rodata.*)
|
||||
*(.rel.gnu.linkonce.r*)
|
||||
}
|
||||
.rela.rodata :
|
||||
{
|
||||
*(.rela.rodata)
|
||||
*(.rela.rodata.*)
|
||||
*(.rela.gnu.linkonce.r*)
|
||||
}
|
||||
.rel.data :
|
||||
{
|
||||
*(.rel.data)
|
||||
*(.rel.data.*)
|
||||
*(.rel.gnu.linkonce.d*)
|
||||
}
|
||||
.rela.data :
|
||||
{
|
||||
*(.rela.data)
|
||||
*(.rela.data.*)
|
||||
*(.rela.gnu.linkonce.d*)
|
||||
}
|
||||
.rel.ctors : { *(.rel.ctors) }
|
||||
.rela.ctors : { *(.rela.ctors) }
|
||||
.rel.dtors : { *(.rel.dtors) }
|
||||
.rela.dtors : { *(.rela.dtors) }
|
||||
.rel.got : { *(.rel.got) }
|
||||
.rela.got : { *(.rela.got) }
|
||||
.rel.bss : { *(.rel.bss) }
|
||||
.rela.bss : { *(.rela.bss) }
|
||||
.rel.plt : { *(.rel.plt) }
|
||||
.rela.plt : { *(.rela.plt) }
|
||||
/* Internal text space or external memory. */
|
||||
.vectors :
|
||||
{
|
||||
*(.vectors)
|
||||
KEEP(*(.vectors))
|
||||
}
|
||||
.text :
|
||||
{
|
||||
/* For data that needs to reside in the lower 64k of progmem. */
|
||||
*(.progmem.gcc*)
|
||||
*(.progmem*)
|
||||
. = ALIGN(2);
|
||||
__trampolines_start = . ;
|
||||
/* The jump trampolines for the 16-bit limited relocs will reside here. */
|
||||
*(.trampolines)
|
||||
*(.trampolines*)
|
||||
__trampolines_end = . ;
|
||||
/* For future tablejump instruction arrays for 3 byte pc devices.
|
||||
We don't relax jump/call instructions within these sections. */
|
||||
*(.jumptables)
|
||||
*(.jumptables*)
|
||||
/* For code that needs to reside in the lower 128k progmem. */
|
||||
*(.lowtext)
|
||||
*(.lowtext*)
|
||||
__ctors_start = . ;
|
||||
*(.ctors)
|
||||
__ctors_end = . ;
|
||||
__dtors_start = . ;
|
||||
*(.dtors)
|
||||
__dtors_end = . ;
|
||||
KEEP(SORT(*)(.ctors))
|
||||
KEEP(SORT(*)(.dtors))
|
||||
/* From this point on, we don't bother about wether the insns are
|
||||
below or above the 16 bits boundary. */
|
||||
*(.init0) /* Start here after reset. */
|
||||
KEEP (*(.init0))
|
||||
*(.init1)
|
||||
KEEP (*(.init1))
|
||||
*(.init2) /* Clear __zero_reg__, set up stack pointer. */
|
||||
KEEP (*(.init2))
|
||||
*(.init3)
|
||||
KEEP (*(.init3))
|
||||
*(.init4) /* Initialize data and BSS. */
|
||||
KEEP (*(.init4))
|
||||
*(.init5)
|
||||
KEEP (*(.init5))
|
||||
*(.init6) /* C++ constructors. */
|
||||
KEEP (*(.init6))
|
||||
*(.init7)
|
||||
KEEP (*(.init7))
|
||||
*(.init8)
|
||||
KEEP (*(.init8))
|
||||
*(.init9) /* Call main(). */
|
||||
KEEP (*(.init9))
|
||||
*(.text)
|
||||
. = ALIGN(2);
|
||||
*(.text.*)
|
||||
. = ALIGN(2);
|
||||
*(.fini9) /* _exit() starts here. */
|
||||
KEEP (*(.fini9))
|
||||
*(.fini8)
|
||||
KEEP (*(.fini8))
|
||||
*(.fini7)
|
||||
KEEP (*(.fini7))
|
||||
*(.fini6) /* C++ destructors. */
|
||||
KEEP (*(.fini6))
|
||||
*(.fini5)
|
||||
KEEP (*(.fini5))
|
||||
*(.fini4)
|
||||
KEEP (*(.fini4))
|
||||
*(.fini3)
|
||||
KEEP (*(.fini3))
|
||||
*(.fini2)
|
||||
KEEP (*(.fini2))
|
||||
*(.fini1)
|
||||
KEEP (*(.fini1))
|
||||
*(.fini0) /* Infinite loop after program termination. */
|
||||
KEEP (*(.fini0))
|
||||
_etext = . ;
|
||||
} > text
|
||||
.data : AT (ADDR (.text) + SIZEOF (.text))
|
||||
{
|
||||
PROVIDE (__data_start = .) ;
|
||||
*(.data)
|
||||
*(.data*)
|
||||
*(.rodata) /* We need to include .rodata here if gcc is used */
|
||||
*(.rodata*) /* with -fdata-sections. */
|
||||
*(.gnu.linkonce.d*)
|
||||
. = ALIGN(2);
|
||||
_edata = . ;
|
||||
PROVIDE (__data_end = .) ;
|
||||
} > data
|
||||
.bss : AT (ADDR (.bss))
|
||||
{
|
||||
PROVIDE (__bss_start = .) ;
|
||||
*(.bss)
|
||||
*(.bss*)
|
||||
*(COMMON)
|
||||
PROVIDE (__bss_end = .) ;
|
||||
} > data
|
||||
__data_load_start = LOADADDR(.data);
|
||||
__data_load_end = __data_load_start + SIZEOF(.data);
|
||||
/* Global data not cleared after reset. */
|
||||
.noinit :
|
||||
{
|
||||
PROVIDE (__noinit_start = .) ;
|
||||
*(.noinit*)
|
||||
PROVIDE (__noinit_end = .) ;
|
||||
_end = . ;
|
||||
PROVIDE (__heap_start = .) ;
|
||||
} > data
|
||||
.eeprom :
|
||||
{
|
||||
*(.eeprom*)
|
||||
__eeprom_end = . ;
|
||||
} > eeprom
|
||||
.fuse :
|
||||
{
|
||||
KEEP(*(.fuse))
|
||||
KEEP(*(.lfuse))
|
||||
KEEP(*(.hfuse))
|
||||
KEEP(*(.efuse))
|
||||
} > fuse
|
||||
.lock :
|
||||
{
|
||||
KEEP(*(.lock*))
|
||||
} > lock
|
||||
.signature :
|
||||
{
|
||||
KEEP(*(.signature*))
|
||||
} > signature
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
/* DWARF debug sections.
|
||||
Symbols in the DWARF debugging sections are relative to the beginning
|
||||
of the section so we begin them at 0. */
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info) *(.gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
}
|
||||
@@ -0,0 +1,234 @@
|
||||
# ----------------------------------------------------------------------------
|
||||
# ATMEL Microcontroller Software Support
|
||||
# ----------------------------------------------------------------------------
|
||||
# Copyright (c) 2011, Atmel Corporation
|
||||
#
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# - Redistributions of source code must retain the above copyright notice,
|
||||
# this list of conditions and the disclaimer below.
|
||||
#
|
||||
# Atmel's name may not be used to endorse or promote products derived from
|
||||
# this software without specific prior written permission.
|
||||
#
|
||||
# DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
# DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
# ----------------------------------------------------------------------------
|
||||
|
||||
# Makefile for compiling the applet-serial flash project
|
||||
|
||||
# Chip & board used for compilation
|
||||
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
|
||||
CHIP = atsam3s4
|
||||
BOARD = atsam3s4_ek
|
||||
DYN = OFF
|
||||
|
||||
# Makefile for compiling applet-serialflash applet.
|
||||
|
||||
ifeq (atsam3s4,$(CHIP))
|
||||
BOARD_DIR = at91sam3s4-ek
|
||||
endif
|
||||
|
||||
ifeq (atsam3s2,$(CHIP))
|
||||
BOARD_DIR = at91sam3s2-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9g15,$(CHIP))
|
||||
BOARD =sam9g15_ek
|
||||
BOARD_DIR = at91sam9g15-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9g25,$(CHIP))
|
||||
BOARD =sam9g25_ek
|
||||
BOARD_DIR = at91sam9g25-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9g35,$(CHIP))
|
||||
BOARD =sam9g35_ek
|
||||
BOARD_DIR = at91sam9g35-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9x25,$(CHIP))
|
||||
BOARD =sam9x25_ek
|
||||
BOARD_DIR = at91sam9x25-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9x35,$(CHIP))
|
||||
BOARD =sam9x35_ek
|
||||
BOARD_DIR = at91sam9x35-ek
|
||||
endif
|
||||
|
||||
# Defines which are the available memory targets for the AT91SAM3S-EK board.
|
||||
MEMORIES = sram
|
||||
|
||||
# Trace level used for compilation
|
||||
# (can be overriden by adding TRACE_LEVEL=#number to the command-line)
|
||||
# TRACE_LEVEL_DEBUG 5
|
||||
# TRACE_LEVEL_INFO 4
|
||||
# TRACE_LEVEL_WARNING 3
|
||||
# TRACE_LEVEL_ERROR 2
|
||||
# TRACE_LEVEL_FATAL 1
|
||||
# TRACE_LEVEL_NO_TRACE 0
|
||||
|
||||
# Info traces allowed by default
|
||||
TR_LEV = 0
|
||||
|
||||
# Optimization level, put in comment for debugging
|
||||
OPTIMIZATION = -Os
|
||||
|
||||
# Output file basename
|
||||
OUTPUT = applet-coprocessor-$(CHIP)
|
||||
|
||||
# Output directories
|
||||
BIN = bin
|
||||
OBJ = obj
|
||||
|
||||
#-------------------------------------------------------------------------------
|
||||
# Tools
|
||||
#-------------------------------------------------------------------------------
|
||||
|
||||
# Tool suffix when cross-compiling
|
||||
CROSS_COMPILE = arm-none-eabi-
|
||||
|
||||
# Libraries
|
||||
LIBRARIES = ../../libraries
|
||||
# Chip library directory
|
||||
CHIP_LIB = $(LIBRARIES)/libchip_atsam3s
|
||||
# Board library directory
|
||||
BOARD_LIB = $(LIBRARIES)/libboard_atsam3s-ek
|
||||
# Spiflash library directory
|
||||
#SPIFLASH_LIB = $(LIBRARIES)/libspiflash
|
||||
|
||||
# ISP directory
|
||||
ISP = ..
|
||||
# tcl_lib directory
|
||||
|
||||
#INSTALLDIR = "../../../../tcl_lib/$(BOARD_DIR)/"
|
||||
|
||||
LIBS = -Wl,--start-group -lgcc -lc -Wl,--end-group
|
||||
|
||||
#-lchip_$(CHIP)_gcc_rel -lboard_$(BOARD)_gcc_rel -lspiflash_gcc_rel -Wl,--end-group
|
||||
|
||||
LIB_PATH = -L$(CHIP_LIB)/lib
|
||||
LIB_PATH += -L$(BOARD_LIB)/lib
|
||||
#LIB_PATH += -L$(SPIFLASH_LIB)/lib
|
||||
#LIB_PATH+=-L=/lib
|
||||
#LIB_PATH+=-L=/../lib/gcc/arm-none-eabi/4.4.1
|
||||
|
||||
# Compilation tools
|
||||
AR = $(CROSS_COMPILE)ar
|
||||
CC = $(CROSS_COMPILE)gcc
|
||||
LD = $(CROSS_COMPILE)ld
|
||||
SIZE = $(CROSS_COMPILE)size
|
||||
STRIP = $(CROSS_COMPILE)strip
|
||||
OBJCOPY = $(CROSS_COMPILE)objcopy
|
||||
GDB = $(CROSS_COMPILE)gdb
|
||||
NM = $(CROSS_COMPILE)nm
|
||||
CLSS = $(CROSS_COMPILE)objdump
|
||||
|
||||
# Flags
|
||||
INCLUDES = -I$(CHIP_LIB)
|
||||
INCLUDES += -I$(BOARD_LIB)
|
||||
INCLUDES += -I$(SPIFLASH_LIB)
|
||||
INCLUDES += -I$(LIBRARIES)
|
||||
|
||||
CFLAGS += -Wall -Wchar-subscripts -Wcomment -Wformat=2 -Wimplicit-int
|
||||
CFLAGS += -Werror-implicit-function-declaration -Wmain -Wparentheses
|
||||
CFLAGS += -Wsequence-point -Wreturn-type -Wswitch -Wtrigraphs -Wunused
|
||||
CFLAGS += -Wuninitialized -Wunknown-pragmas -Wfloat-equal -Wundef
|
||||
CFLAGS += -Wshadow -Wpointer-arith -Wbad-function-cast -Wwrite-strings
|
||||
CFLAGS += -Wsign-compare -Waggregate-return -Wstrict-prototypes
|
||||
CFLAGS += -Wmissing-prototypes -Wmissing-declarations
|
||||
CFLAGS += -Wformat -Wmissing-format-attribute -Wno-deprecated-declarations
|
||||
CFLAGS += -Wpacked -Wredundant-decls -Wnested-externs -Winline -Wlong-long
|
||||
CFLAGS += -Wunreachable-code
|
||||
CFLAGS += -Wcast-align
|
||||
#CFLAGS += -Wmissing-noreturn
|
||||
#CFLAGS += -Wconversion
|
||||
|
||||
# To reduce application size use only integer printf function.
|
||||
CFLAGS += -Dprintf=iprintf
|
||||
TRACE_LEVEL = 4
|
||||
#CFLAGS += -DTRACE_LEVEL=$(TR_LEV)
|
||||
#-DDYN_TRACES
|
||||
# -mlong-calls -Wall
|
||||
CFLAGS += -ffunction-sections -D$(MEMORIES)
|
||||
#CFLAGS += -DNDEBUG
|
||||
CFLAGS += -mthumb -g -gdwarf-2 $(OPTIMIZATION) $(INCLUDES) -D$(CHIP) -DTRACE_LEVEL=$(TRACE_LEVEL) -DDYN_TRACES
|
||||
ASFLAGS = -Wall -g $(OPTIMIZATION) $(INCLUDES) -D$(CHIP) -D__ASSEMBLY__
|
||||
LDFLAGS= -nostartfiles -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=entry -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols
|
||||
LD_OPTIONAL=-Wl,--print-gc-sections -Wl,--stats
|
||||
|
||||
#-------------------------------------------------------------------------------
|
||||
# Files
|
||||
#-------------------------------------------------------------------------------
|
||||
|
||||
# Directories where source files can be found
|
||||
|
||||
VPATH += ../..
|
||||
VPATH += $(ISP)/common
|
||||
|
||||
|
||||
# Objects built from Asm source files
|
||||
//ASM_OBJECTS = applet_cstartup.o
|
||||
|
||||
# Objects built from C source files
|
||||
C_OBJECTS += main.o
|
||||
C_OBJECTS += applet_cstartup.o
|
||||
|
||||
# Append OBJ and BIN directories to output filename
|
||||
OUTPUT := $(BIN)/$(OUTPUT)
|
||||
|
||||
#-------------------------------------------------------------------------------
|
||||
# Rules
|
||||
#-------------------------------------------------------------------------------
|
||||
|
||||
all: $(BIN) $(OBJ) $(MEMORIES)
|
||||
|
||||
$(BIN) $(OBJ):
|
||||
mkdir $@
|
||||
|
||||
define RULES
|
||||
C_OBJECTS_$(1) = $(addprefix $(OBJ)/$(1)_, $(C_OBJECTS))
|
||||
ASM_OBJECTS_$(1) = $(addprefix $(OBJ)/$(1)_, $(ASM_OBJECTS))
|
||||
|
||||
$(1): $$(ASM_OBJECTS_$(1)) $$(C_OBJECTS_$(1))
|
||||
$(CC) $(LIB_PATH) $(LDFLAGS) $(LD_OPTIONAL) -T"$(BOARD_LIB)/resources/gcc/$(CHIP)/$$@_samba.lds" -Wl,-Map,$(OUTPUT).map -o $(OUTPUT).elf $$^ $(LIBS)
|
||||
$(NM) $(OUTPUT).elf >$(OUTPUT).elf.txt
|
||||
$(OBJCOPY) -O binary $(OUTPUT).elf $(OUTPUT).bin
|
||||
$(SIZE) $$^ $(OUTPUT).elf
|
||||
$(CLSS) -h -S $(OUTPUT).elf >$(OUTPUT).lss
|
||||
# @[ -e $(INSTALLDIR) ] || mkdir $(INSTALLDIR)
|
||||
# @cp -f $(OUTPUT).bin $(INSTALLDIR)
|
||||
|
||||
$$(C_OBJECTS_$(1)): $(OBJ)/$(1)_%.o: %.c Makefile $(OBJ) $(BIN)
|
||||
$(CC) $(CFLAGS) -D$(1) -c -o $$@ $$<
|
||||
|
||||
$$(ASM_OBJECTS_$(1)): $(OBJ)/$(1)_%.o: %.S Makefile $(OBJ) $(BIN)
|
||||
$(CC) $(ASFLAGS) -D$(1) -c -o $$@ $$<
|
||||
|
||||
debug_$(1): $(1)
|
||||
$(GDB) -x "$(BOARD_LIB)/resources/gcc/$(BOARD)_$(1).gdb" -ex "reset" -readnow -se $(OUTPUT)-$(1).elf
|
||||
endef
|
||||
|
||||
$(foreach MEMORY, $(MEMORIES), $(eval $(call RULES,$(MEMORY))))
|
||||
|
||||
clean:
|
||||
-del $(OBJ)\*.o $(BIN)\*.bin $(BIN)\*.elf $(BIN)\*.map
|
||||
|
||||
# Create extended listing file from ELF output file.
|
||||
%.lss: %.elf
|
||||
@echo
|
||||
@echo $(MSG_EXTENDED_LISTING) $@
|
||||
$(OBJDUMP) -h -S $< > $@
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,101 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2008, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef APPLET_H
|
||||
#define APPLET_H
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Global definitions
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
/** Refers to the Version of SAM-BA */
|
||||
#define SAM_BA_APPLETS_VERSION "2.11"
|
||||
|
||||
/** Applet initialization command code.*/
|
||||
#define APPLET_CMD_INIT 0x00
|
||||
/** Applet full erase command code.*/
|
||||
#define APPLET_CMD_FULL_ERASE 0x01
|
||||
/** Applet write command code.*/
|
||||
#define APPLET_CMD_WRITE 0x02
|
||||
/** Applet read command code.*/
|
||||
#define APPLET_CMD_READ 0x03
|
||||
/** Applet read command code.*/
|
||||
#define APPLET_CMD_LOCK 0x04
|
||||
/** Applet read command code.*/
|
||||
#define APPLET_CMD_UNLOCK 0x05
|
||||
/** Applet set/clear GPNVM command code.*/
|
||||
#define APPLET_CMD_GPNVM 0x06
|
||||
/** Applet set security bit command code.*/
|
||||
#define APPLET_CMD_SECURITY 0x07
|
||||
/** Applet buffer erase command code.*/
|
||||
#define APPLET_CMD_BUFFER_ERASE 0x08
|
||||
/** Applet binary page command code for Dataflash.*/
|
||||
#define APPLET_CMD_BINARY_PAGE 0x09
|
||||
/** List Bad Blocks of a Nandflash*/
|
||||
#define APPLET_CMD_LIST_BAD_BLOCKS 0x10
|
||||
/** Tag a Nandflash Block*/
|
||||
#define APPLET_CMD_TAG_BLOCK 0x11
|
||||
/** Read the Unique ID bits (on SAM3)*/
|
||||
#define APPLET_CMD_READ_UNIQUE_ID 0x12
|
||||
/** Applet blocks erase command code. */
|
||||
#define APPLET_CMD_ERASE_BLOCKS 0x13
|
||||
/** Applet batch full erase command code. */
|
||||
#define APPLET_CMD_BATCH_ERASE 0x14
|
||||
|
||||
/** Operation was successful.*/
|
||||
#define APPLET_SUCCESS 0x00
|
||||
/** Device unknown.*/
|
||||
#define APPLET_DEV_UNKNOWN 0x01
|
||||
/** Write operation failed.*/
|
||||
#define APPLET_WRITE_FAIL 0x02
|
||||
/** Read operation failed.*/
|
||||
#define APPLET_READ_FAIL 0x03
|
||||
/** Protect operation failed.*/
|
||||
#define APPLET_PROTECT_FAIL 0x04
|
||||
/** Unprotect operation failed.*/
|
||||
#define APPLET_UNPROTECT_FAIL 0x05
|
||||
/** Erase operation failed.*/
|
||||
#define APPLET_ERASE_FAIL 0x06
|
||||
/** No device defined in board.h*/
|
||||
#define APPLET_NO_DEV 0x07
|
||||
/** Read / write address is not aligned*/
|
||||
#define APPLET_ALIGN_ERROR 0x08
|
||||
/** Read / write found bad block*/
|
||||
#define APPLET_BAD_BLOCK 0x09
|
||||
/** Applet failure.*/
|
||||
#define APPLET_FAIL 0x0f
|
||||
|
||||
|
||||
/** Communication link identification*/
|
||||
#define USB_COM_TYPE 0x00
|
||||
#define DBGU_COM_TYPE 0x01
|
||||
#define JTAG_COM_TYPE 0x02
|
||||
|
||||
#endif //#ifndef APPLET_H
|
||||
|
||||
@@ -0,0 +1,128 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2011, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Headers
|
||||
*----------------------------------------------------------------------------*/
|
||||
#include "board.h"
|
||||
#include "board_lowlevel.h"
|
||||
typedef void( *IntFunc )( void );
|
||||
/*----------------------------------------------------------------------------
|
||||
* Prototypes
|
||||
*----------------------------------------------------------------------------*/
|
||||
/** Stack top */
|
||||
extern unsigned long _sstack;
|
||||
|
||||
/** Initialize segments*/
|
||||
extern unsigned int _sidata;
|
||||
extern unsigned int _sdata, _edata;
|
||||
extern unsigned int _szero, _ezero;
|
||||
|
||||
/** Default link entry */
|
||||
extern int main(int argc, char **argv);
|
||||
|
||||
/** Reset entry */
|
||||
void ResetException(void) ;//__attribute__((__interrupt__));
|
||||
|
||||
/** Exception Table */
|
||||
__attribute__((section(".isr_vector")))
|
||||
//IntFunc exception_table[] = {
|
||||
//__attribute__ ((section(".vectors"), used))
|
||||
void (* const gVectors[])(void) =
|
||||
{
|
||||
/* Configure Initial Stack Pointer, using linker-generated symbols */
|
||||
(void (*)(void))((unsigned long)&_sstack),
|
||||
// /*(IntFunc)&*/_sstack,
|
||||
ResetException, /* Initial PC, set to entry point */
|
||||
(unsigned int) 0 /*NMIException*/,
|
||||
(unsigned int) 0 /*HardFaultException*/,
|
||||
(unsigned int) 0 /*MemManageException*/,
|
||||
(unsigned int) 0 /*BusFaultException*/,
|
||||
(unsigned int) 0 /*UsageFaultException*/,
|
||||
0, 0, 0, 0, /* Reserved */
|
||||
(unsigned int) 0 /*SVCHandler*/,
|
||||
(unsigned int) 0 /*DebugMonitor*/,
|
||||
0, /* Reserved */
|
||||
(unsigned int) 0 /*PendSVC*/,
|
||||
(unsigned int) 0 /*SysTickHandler*/,
|
||||
/*
|
||||
:
|
||||
*/
|
||||
};
|
||||
|
||||
/** Applet Mailbox and initialization flag */
|
||||
#define MAILBOX_SIZE 32
|
||||
__attribute__((section(".mailbox")))
|
||||
unsigned int mailbox[MAILBOX_SIZE];
|
||||
volatile unsigned int isInitialized = 0;
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Reset Handler
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
/**
|
||||
* \brief This is the code that gets called on processor reset. To initialize the
|
||||
* device. And call the main() routine.
|
||||
*
|
||||
*/
|
||||
__attribute__ ((section(".text"), used))
|
||||
void ResetException(void)
|
||||
{
|
||||
unsigned int *pSrc, *pDest;
|
||||
// { asm volatile ("cpsid i"); }
|
||||
|
||||
// Initialize data
|
||||
// Zero fill bss
|
||||
if (isInitialized == 0) {
|
||||
pSrc = &_sidata;
|
||||
for(pDest = &_sdata; pDest < &_edata;) {
|
||||
|
||||
*(pDest ++) = *(pSrc ++);
|
||||
}
|
||||
|
||||
for (pDest = &_szero; pDest < &_ezero;) {
|
||||
|
||||
*(pDest ++) = 0;
|
||||
}
|
||||
isInitialized = 1;
|
||||
}
|
||||
|
||||
/* LowLevelInit(); */
|
||||
|
||||
/* Save original SP. */
|
||||
__asm("mov r4, sp");
|
||||
/* Change SP to current stack point. */
|
||||
__asm("ldr r5, =_sstack");
|
||||
__asm(" mov sp, r5");
|
||||
main(1, (char**)mailbox);
|
||||
/* Restore previous SP point. */
|
||||
__asm("mov sp, r4");
|
||||
}
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/**
|
||||
* \file
|
||||
*
|
||||
* Interface for the low-level initialization function.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef BOARD_LOWLEVEL_H
|
||||
#define BOARD_LOWLEVEL_H
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Exported functions
|
||||
*----------------------------------------------------------------------------*/
|
||||
extern void LowLevelInit( void ) ;
|
||||
|
||||
#endif /* BOARD_LOWLEVEL_H */
|
||||
|
||||
@@ -0,0 +1,235 @@
|
||||
# ----------------------------------------------------------------------------
|
||||
# ATMEL Microcontroller Software Support
|
||||
# ----------------------------------------------------------------------------
|
||||
# Copyright (c) 2011, Atmel Corporation
|
||||
#
|
||||
# All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# - Redistributions of source code must retain the above copyright notice,
|
||||
# this list of conditions and the disclaimer below.
|
||||
#
|
||||
# Atmel's name may not be used to endorse or promote products derived from
|
||||
# this software without specific prior written permission.
|
||||
#
|
||||
# DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
# DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
# ----------------------------------------------------------------------------
|
||||
|
||||
# Makefile for compiling the applet-serial flash project
|
||||
|
||||
# Chip & board used for compilation
|
||||
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
|
||||
CHIP = atsam3s4
|
||||
BOARD = atsam3s4_ek
|
||||
DYN = OFF
|
||||
|
||||
# Makefile for compiling applet-serialflash applet.
|
||||
|
||||
ifeq (atsam3s4,$(CHIP))
|
||||
BOARD_DIR = at91sam3s4-ek
|
||||
endif
|
||||
|
||||
ifeq (atsam3s2,$(CHIP))
|
||||
BOARD_DIR = at91sam3s2-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9g15,$(CHIP))
|
||||
BOARD =sam9g15_ek
|
||||
BOARD_DIR = at91sam9g15-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9g25,$(CHIP))
|
||||
BOARD =sam9g25_ek
|
||||
BOARD_DIR = at91sam9g25-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9g35,$(CHIP))
|
||||
BOARD =sam9g35_ek
|
||||
BOARD_DIR = at91sam9g35-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9x25,$(CHIP))
|
||||
BOARD =sam9x25_ek
|
||||
BOARD_DIR = at91sam9x25-ek
|
||||
endif
|
||||
|
||||
ifeq (sam9x35,$(CHIP))
|
||||
BOARD =sam9x35_ek
|
||||
BOARD_DIR = at91sam9x35-ek
|
||||
endif
|
||||
|
||||
# Defines which are the available memory targets for the AT91SAM3S-EK board.
|
||||
MEMORIES = sram
|
||||
|
||||
# Trace level used for compilation
|
||||
# (can be overriden by adding TRACE_LEVEL=#number to the command-line)
|
||||
# TRACE_LEVEL_DEBUG 5
|
||||
# TRACE_LEVEL_INFO 4
|
||||
# TRACE_LEVEL_WARNING 3
|
||||
# TRACE_LEVEL_ERROR 2
|
||||
# TRACE_LEVEL_FATAL 1
|
||||
# TRACE_LEVEL_NO_TRACE 0
|
||||
|
||||
# Info traces allowed by default
|
||||
TR_LEV = 0
|
||||
|
||||
# Optimization level, put in comment for debugging
|
||||
OPTIMIZATION = -Os
|
||||
|
||||
# Output file basename
|
||||
OUTPUT = applet-serialflash-$(CHIP)
|
||||
|
||||
# Output directories
|
||||
BIN = bin
|
||||
OBJ = obj
|
||||
|
||||
#-------------------------------------------------------------------------------
|
||||
# Tools
|
||||
#-------------------------------------------------------------------------------
|
||||
|
||||
# Tool suffix when cross-compiling
|
||||
CROSS_COMPILE = arm-none-eabi-
|
||||
|
||||
# Libraries
|
||||
LIBRARIES = ../../libraries
|
||||
# Chip library directory
|
||||
CHIP_LIB = $(LIBRARIES)/libchip_atsam3s
|
||||
# Board library directory
|
||||
BOARD_LIB = $(LIBRARIES)/libboard_atsam3s-ek
|
||||
# Spiflash library directory
|
||||
#SPIFLASH_LIB = $(LIBRARIES)/libspiflash
|
||||
|
||||
# ISP directory
|
||||
ISP = ..
|
||||
# tcl_lib directory
|
||||
|
||||
#INSTALLDIR = "../../../../tcl_lib/$(BOARD_DIR)/"
|
||||
|
||||
LIBS = -Wl,--start-group -lgcc -lc -Wl,--end-group
|
||||
|
||||
#-lchip_$(CHIP)_gcc_rel -lboard_$(BOARD)_gcc_rel -lspiflash_gcc_rel -Wl,--end-group
|
||||
|
||||
LIB_PATH = -L$(CHIP_LIB)/lib
|
||||
LIB_PATH += -L$(BOARD_LIB)/lib
|
||||
#LIB_PATH += -L$(SPIFLASH_LIB)/lib
|
||||
#LIB_PATH+=-L=/lib
|
||||
#LIB_PATH+=-L=/../lib/gcc/arm-none-eabi/4.4.1
|
||||
|
||||
# Compilation tools
|
||||
AR = $(CROSS_COMPILE)ar
|
||||
CC = $(CROSS_COMPILE)gcc
|
||||
LD = $(CROSS_COMPILE)ld
|
||||
SIZE = $(CROSS_COMPILE)size
|
||||
STRIP = $(CROSS_COMPILE)strip
|
||||
OBJCOPY = $(CROSS_COMPILE)objcopy
|
||||
GDB = $(CROSS_COMPILE)gdb
|
||||
NM = $(CROSS_COMPILE)nm
|
||||
CLSS = $(CROSS_COMPILE)objdump
|
||||
|
||||
# Flags
|
||||
INCLUDES = -I$(CHIP_LIB)
|
||||
INCLUDES += -I$(BOARD_LIB)
|
||||
INCLUDES += -I$(SPIFLASH_LIB)
|
||||
INCLUDES += -I$(LIBRARIES)
|
||||
|
||||
CFLAGS += -Wall -Wchar-subscripts -Wcomment -Wformat=2 -Wimplicit-int
|
||||
CFLAGS += -Werror-implicit-function-declaration -Wmain -Wparentheses
|
||||
CFLAGS += -Wsequence-point -Wreturn-type -Wswitch -Wtrigraphs -Wunused
|
||||
CFLAGS += -Wuninitialized -Wunknown-pragmas -Wfloat-equal -Wundef
|
||||
CFLAGS += -Wshadow -Wpointer-arith -Wbad-function-cast -Wwrite-strings
|
||||
CFLAGS += -Wsign-compare -Waggregate-return -Wstrict-prototypes
|
||||
CFLAGS += -Wmissing-prototypes -Wmissing-declarations
|
||||
CFLAGS += -Wformat -Wmissing-format-attribute -Wno-deprecated-declarations
|
||||
CFLAGS += -Wpacked -Wredundant-decls -Wnested-externs -Winline -Wlong-long
|
||||
CFLAGS += -Wunreachable-code
|
||||
CFLAGS += -Wcast-align
|
||||
#CFLAGS += -Wmissing-noreturn
|
||||
#CFLAGS += -Wconversion
|
||||
|
||||
# To reduce application size use only integer printf function.
|
||||
CFLAGS += -Dprintf=iprintf
|
||||
TRACE_LEVEL = 4
|
||||
#CFLAGS += -DTRACE_LEVEL=$(TR_LEV)
|
||||
#-DDYN_TRACES
|
||||
# -mlong-calls -Wall
|
||||
CFLAGS += -ffunction-sections -D$(MEMORIES)
|
||||
#CFLAGS += -DNDEBUG
|
||||
CFLAGS += -mthumb -g -gdwarf-2 $(OPTIMIZATION) $(INCLUDES) -D$(CHIP) -DTRACE_LEVEL=$(TRACE_LEVEL) -DDYN_TRACES
|
||||
ASFLAGS = -Wall -g $(OPTIMIZATION) $(INCLUDES) -D$(CHIP) -D__ASSEMBLY__
|
||||
LDFLAGS= -nostartfiles -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=entry -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols
|
||||
LD_OPTIONAL=-Wl,--print-gc-sections -Wl,--stats
|
||||
|
||||
#-------------------------------------------------------------------------------
|
||||
# Files
|
||||
#-------------------------------------------------------------------------------
|
||||
|
||||
# Directories where source files can be found
|
||||
|
||||
VPATH += ../..
|
||||
VPATH += $(ISP)/common
|
||||
|
||||
|
||||
# Objects built from Asm source files
|
||||
//ASM_OBJECTS = applet_cstartup.o
|
||||
|
||||
# Objects built from C source files
|
||||
C_OBJECTS += main.o
|
||||
C_OBJECTS += applet_cstartup.o
|
||||
|
||||
# Append OBJ and BIN directories to output filename
|
||||
OUTPUT := $(BIN)/$(OUTPUT)
|
||||
|
||||
#-------------------------------------------------------------------------------
|
||||
# Rules
|
||||
#-------------------------------------------------------------------------------
|
||||
|
||||
all: $(BIN) $(OBJ) $(MEMORIES)
|
||||
|
||||
$(BIN) $(OBJ):
|
||||
mkdir $@
|
||||
|
||||
define RULES
|
||||
C_OBJECTS_$(1) = $(addprefix $(OBJ)/$(1)_, $(C_OBJECTS))
|
||||
ASM_OBJECTS_$(1) = $(addprefix $(OBJ)/$(1)_, $(ASM_OBJECTS))
|
||||
|
||||
$(1): $$(ASM_OBJECTS_$(1)) $$(C_OBJECTS_$(1))
|
||||
$(CC) $(LIB_PATH) $(LDFLAGS) $(LD_OPTIONAL) -T"$(BOARD_LIB)/resources/gcc/$(CHIP)/$$@_samba.lds" -Wl,-Map,$(OUTPUT).map -o $(OUTPUT).elf $$^ $(LIBS)
|
||||
$(NM) $(OUTPUT).elf >$(OUTPUT).elf.txt
|
||||
$(OBJCOPY) -O binary $(OUTPUT).elf $(OUTPUT).bin
|
||||
$(SIZE) $$^ $(OUTPUT).elf
|
||||
$(CLSS) -h -S $(OUTPUT).elf >$(OUTPUT).lss
|
||||
# @[ -e $(INSTALLDIR) ] || mkdir $(INSTALLDIR)
|
||||
# @cp -f $(OUTPUT).bin $(INSTALLDIR)
|
||||
|
||||
$$(C_OBJECTS_$(1)): $(OBJ)/$(1)_%.o: %.c Makefile $(OBJ) $(BIN)
|
||||
$(CC) $(CFLAGS) -D$(1) -c -o $$@ $$<
|
||||
|
||||
$$(ASM_OBJECTS_$(1)): $(OBJ)/$(1)_%.o: %.S Makefile $(OBJ) $(BIN)
|
||||
$(CC) $(ASFLAGS) -D$(1) -c -o $$@ $$<
|
||||
|
||||
debug_$(1): $(1)
|
||||
$(GDB) -x "$(BOARD_LIB)/resources/gcc/$(BOARD)_$(1).gdb" -ex "reset" -readnow -se $(OUTPUT)-$(1).elf
|
||||
endef
|
||||
|
||||
$(foreach MEMORY, $(MEMORIES), $(eval $(call RULES,$(MEMORY))))
|
||||
|
||||
clean:
|
||||
-del $(OBJ)\*.o $(BIN)\*.bin $(BIN)\*.elf $(BIN)\*.map
|
||||
|
||||
# Create extended listing file from ELF output file.
|
||||
%.lss: %.elf
|
||||
@echo
|
||||
@echo $(MSG_EXTENDED_LISTING) $@
|
||||
$(OBJDUMP) -h -S $< > $@
|
||||
|
||||
@@ -0,0 +1,971 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2011, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Headers
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "../common/applet.h"
|
||||
#include <board.h>
|
||||
//#include "libspiflash.h"
|
||||
#include <string.h>
|
||||
|
||||
#undef DYN_TRACES
|
||||
#define DYN_TRACES 0
|
||||
|
||||
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Internal definitions
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
/** SPI clock frequency in Hz. */
|
||||
#define SPCK 8000000
|
||||
|
||||
|
||||
/** Stack size in SRAM */
|
||||
#define STACK_SIZE 0x100
|
||||
|
||||
/** Last erased sector id, this will avoid to erase if the block is already erased. */
|
||||
//static unsigned short lastErasedBlock = 0xFFFF;
|
||||
|
||||
/** Indicate the farthest memory offset ever erase, if current write address is less
|
||||
than the address, the related block should be erase again before write. */
|
||||
//static uint32_t writtenAddress = 0;
|
||||
|
||||
|
||||
/** Max size of data we can tranfsert in one shot */
|
||||
#define MAX_COUNT 0x6000
|
||||
|
||||
/** Chip select value used to select the AT25 chip. */
|
||||
#define SPI_CS 0
|
||||
/** SPI peripheral pins to configure to access the serial flash. */
|
||||
#define SPI_PINS PINS_SPI0, PIN_SPI0_NPCS0
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Types
|
||||
*----------------------------------------------------------------------------*/
|
||||
/** Structure for storing parameters for each command that can be performed by
|
||||
the applet. */
|
||||
struct _Mailbox {
|
||||
|
||||
/** Command send to the monitor to be executed. */
|
||||
uint32_t command;
|
||||
/** Returned status, updated at the end of the monitor execution.*/
|
||||
uint32_t status;
|
||||
|
||||
/** Input Arguments in the argument area*/
|
||||
union {
|
||||
|
||||
/** Input arguments for the Init command.*/
|
||||
struct {
|
||||
|
||||
/** Communication link used.*/
|
||||
uint32_t comType;
|
||||
/**Trace level.*/
|
||||
uint32_t traceLevel;
|
||||
/** Serial flash index.*/
|
||||
uint32_t at25Idx;
|
||||
|
||||
} inputInit;
|
||||
|
||||
/** Output arguments for the Init command.*/
|
||||
struct {
|
||||
|
||||
/** Memory size.*/
|
||||
uint32_t memorySize;
|
||||
/** Buffer address.*/
|
||||
uint32_t bufferAddress;
|
||||
/** Buffer size.*/
|
||||
uint32_t bufferSize;
|
||||
|
||||
} outputInit;
|
||||
|
||||
/** Input arguments for the Write command.*/
|
||||
struct {
|
||||
|
||||
/** Buffer address.*/
|
||||
uint32_t bufferAddr;
|
||||
/** Buffer size.*/
|
||||
uint32_t bufferSize;
|
||||
/** Memory offset.*/
|
||||
uint32_t memoryOffset;
|
||||
|
||||
} inputWrite;
|
||||
|
||||
/** Output arguments for the Write command.*/
|
||||
struct {
|
||||
|
||||
/** Bytes written.*/
|
||||
uint32_t bytesWritten;
|
||||
|
||||
uint32_t bufferSize; // temp
|
||||
/** Memory offset.*/
|
||||
uint32_t memoryOffset; // temp
|
||||
uint32_t debug1 ;
|
||||
uint32_t debug2 ;
|
||||
|
||||
} outputWrite;
|
||||
|
||||
/** Input arguments for the Read command.*/
|
||||
struct {
|
||||
|
||||
/** Buffer address. */
|
||||
uint32_t bufferAddr;
|
||||
/** Buffer size.*/
|
||||
uint32_t bufferSize;
|
||||
/** Memory offset.*/
|
||||
uint32_t memoryOffset;
|
||||
|
||||
} inputRead;
|
||||
|
||||
/** Output arguments for the Read command.*/
|
||||
struct {
|
||||
|
||||
/** Bytes read.*/
|
||||
uint32_t bytesRead;
|
||||
|
||||
} outputRead;
|
||||
|
||||
/** Input arguments for the Full Erase command.*/
|
||||
// NONE
|
||||
|
||||
/** Output arguments for the Full Erase command.*/
|
||||
// NONE
|
||||
/** Input arguments for the Buffer Erase command.*/
|
||||
struct {
|
||||
|
||||
/** Memory offset to be erase.*/
|
||||
uint32_t memoryOffset;
|
||||
|
||||
} inputBufferErase;
|
||||
|
||||
/** Output arguments for the Buffer Erase command.*/
|
||||
struct {
|
||||
|
||||
/** Memory offset to be erase.*/
|
||||
uint32_t bytesErased;
|
||||
|
||||
} outputBufferErase;
|
||||
} argument;
|
||||
};
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Global variables
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
/** End of program space (code + data). */
|
||||
extern int end;
|
||||
extern int _sstack;
|
||||
/*----------------------------------------------------------------------------
|
||||
* Local variables
|
||||
*----------------------------------------------------------------------------*/
|
||||
/** Global DMA driver instance for all DMA transfers in application. */
|
||||
//static sDmad dmad;
|
||||
|
||||
/** SPI driver instance. */
|
||||
//static Spid spid;
|
||||
|
||||
/** Serial flash driver instance. */
|
||||
//static At25 at25;
|
||||
|
||||
/** Pins to configure for the application. */
|
||||
//static Pin pins[] = {SPI_PINS};
|
||||
|
||||
/** Size of one page in the serial flash, in bytes. */
|
||||
static uint32_t pageSize;
|
||||
|
||||
/** Size of one block in the serial flash, in bytes. */
|
||||
static uint32_t blockSize;
|
||||
|
||||
/**Size of the buffer used for read/write operations in bytes. */
|
||||
static uint32_t bufferSize;
|
||||
|
||||
/** Depending on DYN_TRACES, dwTraceLevel is a modifable runtime variable or a define */
|
||||
uint32_t dwTraceLevel;
|
||||
|
||||
uint32_t Spi_init_done = 0 ;
|
||||
struct _Mailbox *Pmailbox = 0 ;
|
||||
|
||||
uint8_t Spi_tx_buf[24] ;
|
||||
uint8_t Spi_rx_buf[24] ;
|
||||
|
||||
uint8_t Block_buffer[4096] ;
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Global functions
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
uint32_t eeprom_write_one( uint8_t byte, uint8_t count ) ;
|
||||
uint32_t eeprom_read_status( void ) ;
|
||||
void eeprom_write_enable( void ) ;
|
||||
void eeprom_wait_busy( void ) ;
|
||||
uint32_t spi_operation( register uint8_t *tx, register uint8_t *rx, register uint32_t count ) ;
|
||||
void init_spi( void ) ;
|
||||
uint32_t unprotect_eeprom( void ) ;
|
||||
uint32_t spi_PDC_action( register uint8_t *command, register uint8_t *tx, register uint8_t *rx, register uint32_t comlen, register uint32_t count ) ;
|
||||
uint32_t eeprom_block_erased( register uint8_t *p) ;
|
||||
uint32_t eeprom_page_erased( register uint8_t *p) ;
|
||||
void AT25D_Read( uint8_t *BufferAddr, uint32_t size, uint32_t memoryOffset) ;
|
||||
void AT25D_Write( uint8_t *BufferAddr, uint32_t size, uint32_t memoryOffset ) ;
|
||||
uint32_t AT25D_EraseBlock( uint32_t memoryOffset ) ;
|
||||
//uint32_t min( uint32_t a, uint32_t b ) ;
|
||||
|
||||
|
||||
uint32_t eeprom_write_one( uint8_t byte, uint8_t count )
|
||||
{
|
||||
register Spi *spiptr ;
|
||||
register uint32_t result ;
|
||||
|
||||
spiptr = SPI ;
|
||||
spiptr->SPI_CR = 1 ; // Enable
|
||||
(void) spiptr->SPI_RDR ; // Dump any rx data
|
||||
|
||||
spiptr->SPI_TDR = byte ;
|
||||
|
||||
result = 0 ;
|
||||
while( ( spiptr->SPI_SR & SPI_SR_RDRF ) == 0 )
|
||||
{
|
||||
// wait for received
|
||||
if ( ++result > 10000 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
}
|
||||
if ( count == 0 )
|
||||
{
|
||||
spiptr->SPI_CR = 2 ; // Disable
|
||||
return spiptr->SPI_RDR ;
|
||||
}
|
||||
(void) spiptr->SPI_RDR ; // Dump the rx data
|
||||
spiptr->SPI_TDR = 0 ;
|
||||
result = 0 ;
|
||||
while( ( spiptr->SPI_SR & SPI_SR_RDRF ) == 0 )
|
||||
{
|
||||
// wait for received
|
||||
if ( ++result > 10000 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
}
|
||||
spiptr->SPI_CR = 2 ; // Disable
|
||||
return spiptr->SPI_RDR ;
|
||||
}
|
||||
|
||||
|
||||
uint32_t eeprom_read_status()
|
||||
{
|
||||
return eeprom_write_one( 5, 1 ) ;
|
||||
}
|
||||
|
||||
|
||||
void eeprom_write_enable()
|
||||
{
|
||||
eeprom_write_one( 6, 0 ) ;
|
||||
}
|
||||
|
||||
void eeprom_wait_busy()
|
||||
{
|
||||
register uint32_t x ;
|
||||
register uint32_t y ;
|
||||
|
||||
y = 0 ;
|
||||
do
|
||||
{
|
||||
y += 1 ;
|
||||
if ( y > 1000000 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
x = eeprom_read_status() ;
|
||||
} while ( x & 1 ) ;
|
||||
|
||||
Pmailbox->argument.outputWrite.debug2 = y ;
|
||||
}
|
||||
|
||||
uint32_t spi_operation( register uint8_t *tx, register uint8_t *rx, register uint32_t count )
|
||||
{
|
||||
register Spi *spiptr ;
|
||||
register uint32_t result ;
|
||||
|
||||
// PMC->PMC_PCER0 |= 0x00200000L ; // Enable peripheral clock to SPI
|
||||
|
||||
result = 0 ;
|
||||
spiptr = SPI ;
|
||||
spiptr->SPI_CR = 1 ; // Enable
|
||||
(void) spiptr->SPI_RDR ; // Dump any rx data
|
||||
while( count )
|
||||
{
|
||||
result = 0 ;
|
||||
while( ( spiptr->SPI_SR & SPI_SR_TXEMPTY ) == 0 )
|
||||
{
|
||||
// wait
|
||||
if ( ++result > 10000 )
|
||||
{
|
||||
result = 0xFFFF ;
|
||||
break ;
|
||||
}
|
||||
}
|
||||
if ( result > 10000 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
// if ( count == 1 )
|
||||
// {
|
||||
// spiptr->SPI_CR = SPI_CR_LASTXFER ; // LastXfer bit
|
||||
// }
|
||||
spiptr->SPI_TDR = *tx++ ;
|
||||
result = 0 ;
|
||||
while( ( spiptr->SPI_SR & SPI_SR_RDRF ) == 0 )
|
||||
{
|
||||
// wait for received
|
||||
if ( ++result > 10000 )
|
||||
{
|
||||
result = 0x2FFFF ;
|
||||
break ;
|
||||
}
|
||||
}
|
||||
if ( result > 10000 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
*rx++ = spiptr->SPI_RDR ;
|
||||
count -= 1 ;
|
||||
}
|
||||
if ( result <= 10000 )
|
||||
{
|
||||
result = 0 ;
|
||||
}
|
||||
spiptr->SPI_CR = 2 ; // Disable
|
||||
|
||||
// Power save
|
||||
// PMC->PMC_PCER0 &= ~0x00200000L ; // Disable peripheral clock to SPI
|
||||
|
||||
return result ;
|
||||
}
|
||||
|
||||
uint32_t spi_PDC_action( register uint8_t *command, register uint8_t *tx, register uint8_t *rx, register uint32_t comlen, register uint32_t count )
|
||||
{
|
||||
register Spi *spiptr ;
|
||||
// register uint32_t result ;
|
||||
register uint32_t condition ;
|
||||
static uint8_t discard_rx_command[4] ;
|
||||
|
||||
// PMC->PMC_PCER0 |= 0x00200000L ; // Enable peripheral clock to SPI
|
||||
|
||||
// Spi_complete = 0 ;
|
||||
if ( comlen > 4 )
|
||||
{
|
||||
// Spi_complete = 1 ;
|
||||
return 0x4FFFF ;
|
||||
}
|
||||
condition = SPI_SR_TXEMPTY ;
|
||||
spiptr = SPI ;
|
||||
spiptr->SPI_CR = 1 ; // Enable
|
||||
(void) spiptr->SPI_RDR ; // Dump any rx data
|
||||
(void) spiptr->SPI_SR ; // Clear error flags
|
||||
spiptr->SPI_RPR = (uint32_t)discard_rx_command ;
|
||||
spiptr->SPI_RCR = comlen ;
|
||||
if ( rx )
|
||||
{
|
||||
spiptr->SPI_RNPR = (uint32_t)rx ;
|
||||
spiptr->SPI_RNCR = count ;
|
||||
condition = SPI_SR_RXBUFF ;
|
||||
}
|
||||
spiptr->SPI_TPR = (uint32_t)command ;
|
||||
spiptr->SPI_TCR = comlen ;
|
||||
if ( tx )
|
||||
{
|
||||
spiptr->SPI_TNPR = (uint32_t)tx ;
|
||||
}
|
||||
else
|
||||
{
|
||||
spiptr->SPI_TNPR = (uint32_t)rx ;
|
||||
}
|
||||
spiptr->SPI_TNCR = count ;
|
||||
|
||||
spiptr->SPI_PTCR = SPI_PTCR_RXTEN | SPI_PTCR_TXTEN ; // Start transfers
|
||||
|
||||
// Wait for things to get started, avoids early interrupt
|
||||
for ( count = 0 ; count < 1000 ; count += 1 )
|
||||
{
|
||||
if ( ( spiptr->SPI_SR & SPI_SR_TXEMPTY ) == 0 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
}
|
||||
|
||||
count = 0 ;
|
||||
while( ( spiptr->SPI_SR & condition ) == 0 )
|
||||
{
|
||||
if ( ++count > 1000000 )
|
||||
{
|
||||
break ;
|
||||
}
|
||||
}
|
||||
|
||||
spiptr->SPI_CR = 2 ; // Disable
|
||||
(void) spiptr->SPI_RDR ; // Dump any rx data
|
||||
(void) spiptr->SPI_SR ; // Clear error flags
|
||||
spiptr->SPI_PTCR = SPI_PTCR_RXTDIS | SPI_PTCR_TXTDIS ; // Stop tramsfers
|
||||
|
||||
if ( count > 1000000 )
|
||||
{
|
||||
return 1 ;
|
||||
}
|
||||
return 0 ;
|
||||
}
|
||||
|
||||
|
||||
uint32_t unprotect_eeprom()
|
||||
{
|
||||
register uint8_t *p ;
|
||||
|
||||
eeprom_write_enable() ;
|
||||
|
||||
p = Spi_tx_buf ;
|
||||
*p = 0x39 ; // Unprotect sector command
|
||||
*(p+1) = 0 ;
|
||||
*(p+2) = 0 ;
|
||||
*(p+3) = 0 ; // 3 bytes address
|
||||
|
||||
return spi_operation( p, Spi_rx_buf, 4 ) ;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void init_spi()
|
||||
{
|
||||
register Pio *pioptr ;
|
||||
register Spi *spiptr ;
|
||||
register uint32_t timer ;
|
||||
register uint8_t *p ;
|
||||
uint8_t spi_buf[4] ;
|
||||
|
||||
if ( !Spi_init_done)
|
||||
{
|
||||
PMC->PMC_PCER0 |= 0x00200000L ; // Enable peripheral clock to SPI
|
||||
/* Configure PIO */
|
||||
pioptr = PIOA ;
|
||||
pioptr->PIO_ABCDSR[0] &= ~0x00007800 ; // Peripheral A bits 14,13,12,11
|
||||
pioptr->PIO_ABCDSR[1] &= ~0x00007800 ; // Peripheral A
|
||||
pioptr->PIO_PDR = 0x00007800 ; // Assign to peripheral
|
||||
|
||||
spiptr = SPI ;
|
||||
timer = ( 64000000 / 3000000 ) << 8 ;
|
||||
spiptr->SPI_MR = 0x14000011 ; // 0001 0100 0000 0000 0000 0000 0001 0001 Master
|
||||
spiptr->SPI_CSR[0] = 0x01180009 | timer ; // 0000 0001 0001 1000 xxxx xxxx 0000 1001
|
||||
// NVIC_EnableIRQ(SPI_IRQn) ;
|
||||
|
||||
p = spi_buf ;
|
||||
|
||||
// *p = 0x39 ; // Unprotect sector command
|
||||
// *(p+1) = 0 ;
|
||||
// *(p+2) = 0 ;
|
||||
// *(p+3) = 0 ; // 3 bytes address
|
||||
|
||||
// spi_operation( p, spi_buf, 4 ) ;
|
||||
|
||||
eeprom_write_enable() ;
|
||||
|
||||
*p = 1 ; // Write status register command
|
||||
*(p+1) = 0 ;
|
||||
spi_operation( p, spi_buf, 2 ) ;
|
||||
Spi_init_done = 1 ;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint32_t eeprom_block_erased( register uint8_t *p)
|
||||
{
|
||||
register uint32_t x ;
|
||||
register uint32_t result ;
|
||||
|
||||
result = 1 ;
|
||||
|
||||
for ( x = 0 ; x < 4096 ; x += 1 )
|
||||
{
|
||||
if ( *p++ != 0xFF )
|
||||
{
|
||||
result = 0 ;
|
||||
break ;
|
||||
}
|
||||
}
|
||||
return result ;
|
||||
}
|
||||
|
||||
uint32_t eeprom_page_erased( register uint8_t *p)
|
||||
{
|
||||
register uint32_t x ;
|
||||
register uint32_t result ;
|
||||
|
||||
result = 1 ;
|
||||
|
||||
for ( x = 0 ; x < 256 ; x += 1 )
|
||||
{
|
||||
if ( *p++ != 0xFF )
|
||||
{
|
||||
result = 0 ;
|
||||
break ;
|
||||
}
|
||||
}
|
||||
return result ;
|
||||
}
|
||||
|
||||
|
||||
void AT25D_Read( uint8_t *BufferAddr, uint32_t size, uint32_t memoryOffset)
|
||||
{
|
||||
register uint8_t *p ;
|
||||
|
||||
p = Spi_tx_buf ;
|
||||
*p = 3 ; // Read command
|
||||
*(p+1) = memoryOffset >> 16 ;
|
||||
*(p+2) = memoryOffset >> 8 ;
|
||||
*(p+3) = memoryOffset ; // 3 bytes address
|
||||
|
||||
spi_PDC_action( p, 0, BufferAddr, 4, size ) ;
|
||||
}
|
||||
|
||||
void AT25D_Write( uint8_t *BufferAddr, uint32_t size, uint32_t memoryOffset )
|
||||
{
|
||||
register uint8_t *p ;
|
||||
|
||||
eeprom_write_enable() ;
|
||||
|
||||
p = Spi_tx_buf ;
|
||||
*p = 2 ; // Write command
|
||||
*(p+1) = memoryOffset >> 16 ;
|
||||
*(p+2) = memoryOffset >> 8 ;
|
||||
*(p+3) = memoryOffset ; // 3 bytes address
|
||||
|
||||
spi_PDC_action( p, BufferAddr, 0, 4, size ) ;
|
||||
|
||||
eeprom_wait_busy() ;
|
||||
|
||||
}
|
||||
|
||||
uint32_t AT25D_EraseBlock( uint32_t memoryOffset )
|
||||
{
|
||||
register uint8_t *p ;
|
||||
register uint32_t x ;
|
||||
|
||||
eeprom_write_enable() ;
|
||||
p = Spi_tx_buf ;
|
||||
*p = 0x20 ; // Block Erase command
|
||||
*(p+1) = memoryOffset >> 16 ;
|
||||
*(p+2) = memoryOffset >> 8 ;
|
||||
*(p+3) = memoryOffset ; // 3 bytes address
|
||||
x = spi_operation( p, Spi_rx_buf, 4 ) ;
|
||||
|
||||
eeprom_wait_busy() ;
|
||||
return x ;
|
||||
}
|
||||
|
||||
//uint32_t min( uint32_t a, uint32_t b )
|
||||
//{
|
||||
// if ( a < b )
|
||||
// {
|
||||
// return a ;
|
||||
// }
|
||||
// return b ;
|
||||
//}
|
||||
|
||||
/**
|
||||
* \brief Applet main entry. This function decodes received command and executes it.
|
||||
* \param argc always 1
|
||||
* \param argv Address of the argument area.
|
||||
*/
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
struct _Mailbox *pMailbox = (struct _Mailbox *) argv;
|
||||
Pmailbox = pMailbox ;
|
||||
/* Communication type with SAM-BA GUI. */
|
||||
// uint8_t comType;
|
||||
|
||||
// uint32_t jedecId;
|
||||
uint32_t bytesToWrite, bytesToRead, bufferAddr, startMemoryOffset, memoryOffset, packetSize;
|
||||
/* index on read/write buffer */
|
||||
uint8_t *pBuffer;
|
||||
/* Temporary buffer used for non block aligned read/write */
|
||||
// uint32_t tempBufferAddr;
|
||||
/* Offset in destination buffer during buffer copy */
|
||||
// uint32_t bufferOffset;
|
||||
|
||||
uint32_t block_address ;
|
||||
uint32_t x ;
|
||||
/* INIT */
|
||||
/* Save communication link type */
|
||||
// comType = pMailbox->argument.inputInit.comType;
|
||||
|
||||
init_spi() ;
|
||||
|
||||
if (pMailbox->command == APPLET_CMD_INIT)
|
||||
{
|
||||
#if (DYN_TRACES == 1)
|
||||
dwTraceLevel = pMailbox->argument.inputInit.traceLevel;
|
||||
#endif
|
||||
|
||||
// TRACE_INFO("-- SerialFlash AT25/AT26 applet %s --\n\r", SAM_BA_APPLETS_VERSION);
|
||||
// TRACE_INFO("-- %s\n\r", BOARD_NAME);
|
||||
// TRACE_INFO("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
|
||||
/* Configure pins */
|
||||
// PIO_Configure(pins, PIO_LISTSIZE(pins));
|
||||
/* Initialize DMA driver instance with polling mode */
|
||||
// DMAD_Initialize( &dmad, 1 );
|
||||
|
||||
/* Initialize the SPI and serial flash */
|
||||
init_spi() ;
|
||||
|
||||
|
||||
|
||||
// SPID_Configure(&spid, SPI0, ID_SPI0, &dmad);
|
||||
// AT25_Configure(&at25, &spid, SPI_CS, 1);
|
||||
// TRACE_INFO("SPI and AT25/AT25 drivers initialized\n\r");
|
||||
pMailbox->argument.outputInit.bufferAddress = (uint32_t) &end ;
|
||||
/* Read the JEDEC ID of the device to identify it */
|
||||
// jedecId = AT25D_ReadJedecId(&at25);
|
||||
// if (AT25_FindDevice(&at25, jedecId) == 0) {
|
||||
// pMailbox->status = APPLET_DEV_UNKNOWN;
|
||||
// pMailbox->argument.outputInit.bufferSize = 0;
|
||||
// pMailbox->argument.outputInit.memorySize = 0;
|
||||
// TRACE_INFO("Device Unknown\n\r");
|
||||
// goto exit;
|
||||
// }
|
||||
// else {
|
||||
/* Get device parameters */
|
||||
pMailbox->status = APPLET_SUCCESS;
|
||||
pageSize = 256 ;
|
||||
// pageSize = AT25_PageSize(&at25);
|
||||
blockSize = 4096 ;
|
||||
// blockSize = AT25_BlockSize(&at25);
|
||||
|
||||
/* Program page */
|
||||
// if (AT25_ManId(&at25) == SST_SPI_FLASH) {
|
||||
/* SST Flash write is slower, we reduce buffer size to avoid USB timeout */
|
||||
// bufferSize = 10 * pageSize;
|
||||
// }
|
||||
// else {
|
||||
bufferSize = 2 * blockSize;
|
||||
// }
|
||||
/* integer number of pages can be contained in each buffer */
|
||||
bufferSize -= bufferSize % pageSize;
|
||||
if ( bufferSize < pageSize) {
|
||||
// TRACE_INFO("No enought memory to load buffer.\n\r");
|
||||
goto exit;
|
||||
}
|
||||
pMailbox->argument.outputInit.bufferSize = bufferSize;
|
||||
pMailbox->argument.outputInit.memorySize = 128*4096;
|
||||
// TRACE_INFO("%s blockSize : 0x%lx bufferAddr : 0x%lx\n\r",
|
||||
// "sky9x", blockSize, pMailbox->argument.outputInit.bufferAddress);
|
||||
// }
|
||||
}
|
||||
|
||||
// ----------------------------------------------------------
|
||||
// WRITE:
|
||||
// ----------------------------------------------------------
|
||||
else if (pMailbox->command == APPLET_CMD_WRITE)
|
||||
{
|
||||
startMemoryOffset = pMailbox->argument.inputWrite.memoryOffset;
|
||||
memoryOffset = startMemoryOffset;
|
||||
bufferAddr = pMailbox->argument.inputWrite.bufferAddr;
|
||||
// tempBufferAddr = bufferAddr + bufferSize;
|
||||
bytesToWrite = pMailbox->argument.inputWrite.bufferSize;
|
||||
// TRACE_INFO("WRITE at offset: 0x%lx buffer at : 0x%lx of: 0x%lx Bytes\n\r",
|
||||
// memoryOffset, bufferAddr, bytesToWrite);
|
||||
/* Check word alignment */
|
||||
if (memoryOffset % 4) {
|
||||
|
||||
pMailbox->status = APPLET_ALIGN_ERROR;
|
||||
goto exit;
|
||||
}
|
||||
|
||||
unprotect_eeprom() ;
|
||||
// if (AT25D_Unprotect(&at25)) {
|
||||
|
||||
// TRACE_INFO("Can not unprotect the flash\n\r");
|
||||
// pMailbox->status = APPLET_UNPROTECT_FAIL;
|
||||
// goto exit;
|
||||
// }
|
||||
|
||||
pBuffer = (uint8_t *) bufferAddr;
|
||||
|
||||
block_address = memoryOffset &0xFFFFF000 ; // 4k boundary
|
||||
AT25D_Read( Block_buffer, 4096, block_address ) ; // read block to write to
|
||||
// Check to see if it is blank
|
||||
x = eeprom_block_erased( Block_buffer ) ;
|
||||
if ( x == 0 )
|
||||
{
|
||||
AT25D_EraseBlock( block_address ) ;
|
||||
}
|
||||
|
||||
if (bytesToWrite)
|
||||
{
|
||||
uint32_t bytes_to_copy ;
|
||||
uint32_t i ;
|
||||
uint32_t j ;
|
||||
uint8_t *s ;
|
||||
uint8_t *dest ;
|
||||
|
||||
dest = Block_buffer + (memoryOffset & 0x0FFF ) ;
|
||||
s = pBuffer ;
|
||||
bytes_to_copy = 4096 - ( memoryOffset - block_address ) ;
|
||||
if ( bytes_to_copy > bytesToWrite )
|
||||
{
|
||||
bytes_to_copy = bytesToWrite ;
|
||||
}
|
||||
for ( i = 0 ; i < bytes_to_copy ; i += 1 )
|
||||
{
|
||||
*dest++ = *s++ ;
|
||||
}
|
||||
memoryOffset += bytes_to_copy ;
|
||||
bytesToWrite -= bytes_to_copy ;
|
||||
s = Block_buffer ;
|
||||
j = 0 ;
|
||||
for ( i = 0 ; i < 16 ; i += 1 ) // pages in block
|
||||
{
|
||||
j <<= 1 ;
|
||||
x = eeprom_page_erased( s ) ;
|
||||
if ( x == 0 ) // Not blank
|
||||
{
|
||||
AT25D_Write( s, 256, block_address ) ;
|
||||
j |= 1 ;
|
||||
}
|
||||
s += 256 ;
|
||||
block_address += 256 ;
|
||||
}
|
||||
pMailbox->argument.outputWrite.debug1 = j ;
|
||||
}
|
||||
|
||||
|
||||
// if ((memoryOffset % pageSize) != 0) {
|
||||
|
||||
// /* We are not page aligned, retrieve first page content to update it*/
|
||||
// if (memoryOffset < writtenAddress) {
|
||||
// lastErasedBlock = 0xFFFF;
|
||||
// }
|
||||
// /* Flush temp buffer */
|
||||
// memset((uint32_t *)tempBufferAddr, 0xFF, pageSize);
|
||||
|
||||
// bufferOffset = (memoryOffset % pageSize);
|
||||
// packetSize = pageSize - bufferOffset;
|
||||
// memoryOffset -= bufferOffset;
|
||||
// /* Read page to be updated*/
|
||||
// AT25D_Read( (uint8_t *) tempBufferAddr, pageSize, memoryOffset);
|
||||
// /* Fill retrieved page with data to be programmed */
|
||||
// memcpy((uint8_t *)(tempBufferAddr + bufferOffset), pBuffer, packetSize);
|
||||
|
||||
// if (((memoryOffset / blockSize) > lastErasedBlock) || (lastErasedBlock == 0xFFFF)) {
|
||||
// /* Erase the block to be updated */
|
||||
//// AT25D_EraseBlock( memoryOffset);
|
||||
// lastErasedBlock = (memoryOffset / blockSize);
|
||||
// }
|
||||
|
||||
// /* Write the page contents */
|
||||
//// AT25D_Write( (uint8_t *) tempBufferAddr, pageSize, memoryOffset);
|
||||
// bytesToWrite = (bytesToWrite > packetSize) ? (bytesToWrite - packetSize) : 0;
|
||||
// pBuffer += packetSize;
|
||||
// memoryOffset += pageSize;
|
||||
// writtenAddress = memoryOffset;
|
||||
// }
|
||||
|
||||
// /* If it remains more than one page to write */
|
||||
// while (bytesToWrite >= pageSize)
|
||||
// {
|
||||
// if (memoryOffset < writtenAddress)
|
||||
// {
|
||||
// lastErasedBlock = 0xFFFF;
|
||||
// }
|
||||
// if (((memoryOffset / blockSize) > lastErasedBlock) || (lastErasedBlock == 0xFFFF)) {
|
||||
// /* Erase the block to be updated */
|
||||
//// AT25D_EraseBlock( memoryOffset);
|
||||
// lastErasedBlock = (memoryOffset / blockSize);
|
||||
// }
|
||||
// /* Write the page contents */
|
||||
// AT25D_Write( (uint8_t *) pBuffer, pageSize, memoryOffset);
|
||||
// pBuffer += pageSize;
|
||||
// memoryOffset += pageSize;
|
||||
// bytesToWrite -= pageSize;
|
||||
// writtenAddress = memoryOffset;
|
||||
// }
|
||||
|
||||
// /* Write remaining data */
|
||||
// if (bytesToWrite > 0) {
|
||||
|
||||
// /* Read previous content of page */
|
||||
// AT25D_Read( (uint8_t *) tempBufferAddr, pageSize, memoryOffset);
|
||||
// /* Fill retrieved block with data to be programmed */
|
||||
// memcpy((uint8_t *)tempBufferAddr, pBuffer, bytesToWrite);
|
||||
// if (((memoryOffset / blockSize) > lastErasedBlock) || (lastErasedBlock == 0xFFFF)) {
|
||||
// /* Erase the block to be updated */
|
||||
//// AT25D_EraseBlock( memoryOffset);
|
||||
// lastErasedBlock = (memoryOffset / blockSize);
|
||||
// }
|
||||
// /* Write the page contents */;
|
||||
//// AT25D_Write( (uint8_t *) tempBufferAddr, pageSize, memoryOffset);
|
||||
// writtenAddress = memoryOffset + bytesToWrite;
|
||||
// /* No more bytes to write */
|
||||
// bytesToWrite = 0;
|
||||
// }
|
||||
|
||||
//// TRACE_INFO("WRITE return byte written : 0x%lx Bytes\n\r",
|
||||
//// pMailbox->argument.inputWrite.bufferSize - bytesToWrite);
|
||||
|
||||
pMailbox->argument.outputWrite.bytesWritten = pMailbox->argument.inputWrite.bufferSize - bytesToWrite;
|
||||
// pMailbox->argument.outputWrite.bytesWritten = bytesToWrite;
|
||||
pMailbox->status = APPLET_SUCCESS;
|
||||
}
|
||||
|
||||
// // ----------------------------------------------------------
|
||||
// // READ:
|
||||
// // ----------------------------------------------------------
|
||||
else if (pMailbox->command == APPLET_CMD_READ)
|
||||
{
|
||||
memoryOffset = pMailbox->argument.inputRead.memoryOffset;
|
||||
bufferAddr = pMailbox->argument.inputRead.bufferAddr;
|
||||
bytesToRead = pMailbox->argument.inputRead.bufferSize;
|
||||
|
||||
// TRACE_INFO("READ at offset: 0x%lx buffer at : 0x%lx of: 0x%lx Bytes\n\r",
|
||||
// memoryOffset, bufferAddr, bytesToRead);
|
||||
/* Check word alignment */
|
||||
if (memoryOffset % 4) {
|
||||
|
||||
pMailbox->status = APPLET_ALIGN_ERROR;
|
||||
goto exit;
|
||||
}
|
||||
pBuffer = (uint8_t *) bufferAddr;
|
||||
|
||||
/* Read packet after packets */
|
||||
while (((uint32_t)pBuffer < (bufferAddr + bufferSize)) && (bytesToRead > 0))
|
||||
{
|
||||
packetSize = bytesToRead ;
|
||||
if ( packetSize > MAX_COUNT )
|
||||
{
|
||||
packetSize = MAX_COUNT ;
|
||||
}
|
||||
AT25D_Read( pBuffer, packetSize, memoryOffset);
|
||||
pBuffer += packetSize;
|
||||
bytesToRead -= packetSize;
|
||||
memoryOffset += packetSize;
|
||||
}
|
||||
|
||||
// TRACE_INFO("READ return byte read : 0x%lx Bytes\n\r",
|
||||
// pMailbox->argument.inputRead.bufferSize - bytesToRead);
|
||||
|
||||
pMailbox->argument.outputRead.bytesRead = pMailbox->argument.inputRead.bufferSize - bytesToRead;
|
||||
pMailbox->status = APPLET_SUCCESS;
|
||||
}
|
||||
|
||||
// // ----------------------------------------------------------
|
||||
// // FULL ERASE:
|
||||
// // ----------------------------------------------------------
|
||||
else if (pMailbox->command == APPLET_CMD_FULL_ERASE)
|
||||
{
|
||||
pMailbox->status = APPLET_ERASE_FAIL;
|
||||
// TRACE_INFO("FULL ERASE\n\r");
|
||||
|
||||
// unprotect_eeprom() ;
|
||||
|
||||
// /* Unprotected the flash */
|
||||
//// if (AT25D_Unprotect(&at25)) {
|
||||
|
||||
//// TRACE_INFO("Can not unprotect the flash\n\r");
|
||||
//// pMailbox->status = APPLET_UNPROTECT_FAIL;
|
||||
//// goto exit;
|
||||
//// }
|
||||
|
||||
// TRACE_INFO("Flash unprotected\n\r");
|
||||
|
||||
// /* Erase the chip */
|
||||
// TRACE_INFO("Chip is being erased...\n\r");
|
||||
|
||||
//// if (AT25D_EraseChip()) {
|
||||
|
||||
// // NOT IMPLEMENTED (YET?)
|
||||
|
||||
// TRACE_INFO("Erasing error\n\r");
|
||||
// pMailbox->status = APPLET_ERASE_FAIL;
|
||||
// goto exit;
|
||||
//// }
|
||||
|
||||
// TRACE_INFO("Full Erase achieved\n\r");
|
||||
// pMailbox->status = APPLET_SUCCESS;
|
||||
}
|
||||
// // ----------------------------------------------------------
|
||||
// // BUFFER ERASE:
|
||||
// // ----------------------------------------------------------
|
||||
else if (pMailbox->command == APPLET_CMD_BUFFER_ERASE)
|
||||
{
|
||||
|
||||
// TRACE_INFO("BUFFER ERASE \n\r");
|
||||
/* Unprotected the flash */
|
||||
unprotect_eeprom() ;
|
||||
|
||||
// if (AT25D_Unprotect(&at25)) {
|
||||
|
||||
// TRACE_INFO("Can not unprotect the flash\n\r");
|
||||
// pMailbox->status = APPLET_UNPROTECT_FAIL;
|
||||
// goto exit;
|
||||
// }
|
||||
|
||||
memoryOffset = pMailbox->argument.inputBufferErase.memoryOffset;
|
||||
|
||||
if (AT25D_EraseBlock( memoryOffset))
|
||||
{
|
||||
pMailbox->status = APPLET_ERASE_FAIL;
|
||||
// TRACE_INFO("Block erasing error\n\r");
|
||||
goto exit;
|
||||
}
|
||||
pMailbox->argument.outputBufferErase.bytesErased = 4096;
|
||||
|
||||
// TRACE_INFO("Buffer Erase achieved\n\r");
|
||||
pMailbox->status = APPLET_SUCCESS;
|
||||
}
|
||||
exit:
|
||||
/* Acknowledge the end of command */
|
||||
// TRACE_INFO("\tEnd of applet (command : %lx --- status : %lx)\n\r", pMailbox->command, pMailbox->status);
|
||||
|
||||
/* Notify the host application of the end of the command processing */
|
||||
pMailbox->command = ~(pMailbox->command);
|
||||
/* Send ACK character */
|
||||
// if (comType == DBGU_COM_TYPE)
|
||||
// {
|
||||
/* Wait for the transmitter to be ready */
|
||||
// while ( (DBGU->DBGU_SR & DBGU_SR_TXEMPTY) == 0 ) ;
|
||||
/* Send character */
|
||||
// DBGU->DBGU_THR= 0x06 ;
|
||||
// }
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,734 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2011, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/**
|
||||
* \page sam3s_ek_board_desc SAM3S-EK - Board Description
|
||||
*
|
||||
* \section Purpose
|
||||
*
|
||||
* A file is dedicated to descibe the AT91SAM3S-EK board.
|
||||
*
|
||||
* \section Contents
|
||||
*
|
||||
* - For AT91SAM3S-EK information, see \subpage sam3s_ek_board_info.
|
||||
* - For operating frequency information, see \subpage sam3s_ek_opfreq.
|
||||
* - For using portable PIO definitions, see \subpage sam3s_ek_piodef.
|
||||
* - For on-board memories, see \subpage sam3s_ek_mem.
|
||||
* - Several USB definitions are included here, see \subpage sam3s_ek_usb.
|
||||
* - For External components, see \subpage sam3s_ek_extcomp.
|
||||
* - For Individual chip definition, see \subpage sam3s_ek_chipdef.
|
||||
*
|
||||
* To get more software details and the full list of parameters related to the
|
||||
* SAM3S-EK board configuration, please have a look at the source file:
|
||||
* \ref board.h\n
|
||||
*
|
||||
* \section Usage
|
||||
*
|
||||
* - The code for booting the board is provided by board_cstartup_xxx.c and
|
||||
* board_lowlevel.c.
|
||||
* - For using board PIOs, board characteristics (clock, etc.) and external
|
||||
* components, see board.h.
|
||||
* - For manipulating memories, see board_memories.h.
|
||||
*
|
||||
* This file can be used as a template and modified to fit a custom board, with
|
||||
* specific PIOs usage or memory connections.
|
||||
*/
|
||||
|
||||
/**
|
||||
* \file board.h
|
||||
*
|
||||
* Definition of AT91SAM3S-EK characteristics, AT91SAM3S-dependant PIOs and
|
||||
* external components interfacing.
|
||||
*/
|
||||
|
||||
#ifndef _BOARD_
|
||||
#define _BOARD_
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Headers
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
#include <chip.h>
|
||||
|
||||
|
||||
//#include <include/at45d.h>
|
||||
//#include <include/at45_spi.h>
|
||||
#include <include/board_lowlevel.h>
|
||||
//#include <include/board_memories.h>
|
||||
//#include <include/hamming.h>
|
||||
//#include <include/math.h>
|
||||
//#include <include/uart_console.h>
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Definitions
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_board_info "SAM3S-EK - Board informations"
|
||||
* This page lists several definition related to the board description.
|
||||
*
|
||||
* \section Definitions
|
||||
* - \ref BOARD_NAME
|
||||
*/
|
||||
|
||||
/** Name of the board */
|
||||
#define BOARD_NAME "ATSAM3S-EK"
|
||||
/** Board definition */
|
||||
#define atsam3sek
|
||||
/** Family definition (already defined) */
|
||||
#define atsam3s
|
||||
/** Core definition */
|
||||
#define cortexm3
|
||||
|
||||
/*
|
||||
#define BOARD_REV_A
|
||||
*/
|
||||
#define BOARD_REV_B
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_opfreq "SAM3S-EK - Operating frequencies"
|
||||
* This page lists several definition related to the board operating frequency
|
||||
* (when using the initialization done by board_lowlevel.c).
|
||||
*
|
||||
* \section Definitions
|
||||
* - \ref BOARD_MAINOSC
|
||||
* - \ref BOARD_MCK
|
||||
*/
|
||||
|
||||
/** Frequency of the board main oscillator */
|
||||
#define BOARD_MAINOSC 12000000
|
||||
|
||||
/** Master clock frequency (when using board_lowlevel.c) */
|
||||
// #define BOARD_MCK 64000000
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_piodef "SAM3S-EK - PIO definitions"
|
||||
* This pages lists all the pio definitions contained in board.h. The constants
|
||||
* are named using the following convention: PIN_* for a constant which defines
|
||||
* a single Pin instance (but may include several PIOs sharing the same
|
||||
* controller), and PINS_* for a list of Pin instances.
|
||||
*
|
||||
* ADC
|
||||
* - \ref PIN_ADC0_AD0
|
||||
* - \ref PIN_ADC0_AD1
|
||||
* - \ref PIN_ADC0_AD2
|
||||
* - \ref PIN_ADC0_AD3
|
||||
* - \ref PIN_ADC0_AD4
|
||||
* - \ref PIN_ADC0_AD5
|
||||
* - \ref PIN_ADC0_AD6
|
||||
* - \ref PIN_ADC0_AD7
|
||||
* - \ref PINS_ADC
|
||||
*
|
||||
* UART
|
||||
* - \ref PINS_UART
|
||||
*
|
||||
* EBI
|
||||
* - \ref PIN_EBI_DATA_BUS
|
||||
* - \ref PIN_EBI_NRD
|
||||
* - \ref PIN_EBI_NWE
|
||||
* - \ref PIN_EBI_NCS0
|
||||
* - \ref PIN_EBI_PSRAM_ADDR_BUS
|
||||
* - \ref PIN_EBI_PSRAM_NBS
|
||||
* - \ref PIN_EBI_A1
|
||||
* - \ref PIN_EBI_NCS1
|
||||
* - \ref PIN_EBI_LCD_RS
|
||||
*
|
||||
* LEDs
|
||||
* - \ref PIN_LED_0
|
||||
* - \ref PIN_LED_1
|
||||
* - \ref PIN_LED_2
|
||||
* - \ref PINS_LEDS
|
||||
*
|
||||
* MCI
|
||||
* - \ref PINS_MCI
|
||||
*
|
||||
* Push buttons
|
||||
* - \ref PIN_PUSHBUTTON_1
|
||||
* - \ref PIN_PUSHBUTTON_2
|
||||
* - \ref PINS_PUSHBUTTONS
|
||||
* - \ref PUSHBUTTON_BP1
|
||||
* - \ref PUSHBUTTON_BP2
|
||||
*
|
||||
* PWMC
|
||||
* - \ref PIN_PWMC_PWMH0
|
||||
* - \ref PIN_PWMC_PWML0
|
||||
* - \ref PIN_PWMC_PWMH1
|
||||
* - \ref PIN_PWMC_PWML1
|
||||
* - \ref PIN_PWMC_PWMH2
|
||||
* - \ref PIN_PWMC_PWML2
|
||||
* - \ref PIN_PWMC_PWMH3
|
||||
* - \ref PIN_PWMC_PWML3
|
||||
* - \ref PIN_PWM_LED0
|
||||
* - \ref PIN_PWM_LED1
|
||||
* - \ref PIN_PWM_LED2
|
||||
* - \ref CHANNEL_PWM_LED0
|
||||
* - \ref CHANNEL_PWM_LED1
|
||||
* - \ref CHANNEL_PWM_LED2
|
||||
*
|
||||
* SPI
|
||||
* - \ref PIN_SPI_MISO
|
||||
* - \ref PIN_SPI_MOSI
|
||||
* - \ref PIN_SPI_SPCK
|
||||
* - \ref PINS_SPI
|
||||
* - \ref PIN_SPI_NPCS0_PA11
|
||||
*
|
||||
* SSC
|
||||
* - \ref PIN_SSC_TD
|
||||
* - \ref PIN_SSC_TK
|
||||
* - \ref PIN_SSC_TF
|
||||
* - \ref PINS_SSC_CODEC
|
||||
*
|
||||
* PCK0
|
||||
* - \ref PIN_PCK0
|
||||
*
|
||||
* PIO PARALLEL CAPTURE
|
||||
* - \ref PIN_PIODCEN1
|
||||
* - \ref PIN_PIODCEN2
|
||||
*
|
||||
* TWI
|
||||
* - \ref TWI_V3XX
|
||||
* - \ref PIN_TWI_TWD0
|
||||
* - \ref PIN_TWI_TWCK0
|
||||
* - \ref PINS_TWI0
|
||||
* - \ref PIN_TWI_TWD1
|
||||
* - \ref PIN_TWI_TWCK1
|
||||
* - \ref PINS_TWI1
|
||||
*
|
||||
* USART0
|
||||
* - \ref PIN_USART0_RXD
|
||||
* - \ref PIN_USART0_TXD
|
||||
* - \ref PIN_USART0_CTS
|
||||
* - \ref PIN_USART0_RTS
|
||||
* - \ref PIN_USART0_SCK
|
||||
*
|
||||
* USB
|
||||
* - \ref PIN_USB_VBUS
|
||||
*
|
||||
* NandFlash
|
||||
* - \ref PIN_EBI_NANDOE
|
||||
* - \ref PIN_EBI_NANDWE
|
||||
* - \ref PIN_EBI_NANDCLE
|
||||
* - \ref PIN_EBI_NANDALE
|
||||
* - \ref PIN_EBI_NANDIO
|
||||
* - \ref BOARD_NF_CE_PIN
|
||||
* - \ref BOARD_NF_RB_PIN
|
||||
* - \ref PINS_NANDFLASH
|
||||
*
|
||||
* QTouch
|
||||
* PIO definitions for Slider
|
||||
* \ref SLIDER_IOMASK_SNS
|
||||
* \ref SLIDER_IOMASK_SNSK
|
||||
* \ref PINS_SLIDER_SNS
|
||||
* \ref PINS_SLIDER_SNSK
|
||||
*
|
||||
* PIO definitions for keys
|
||||
* \ref KEY_IOMASK_SNS
|
||||
* \ref KEY_IOMASK_SNSK
|
||||
* \ref PINS_KEY_SNS
|
||||
* \ref PINS_KEY_SNSK
|
||||
*
|
||||
* PIOS for QTouch
|
||||
* \ref PINS_QTOUCH
|
||||
*/
|
||||
|
||||
/** ADC_AD0 pin definition. */
|
||||
#define PIN_ADC0_AD0 {1 << 21, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD1 pin definition. */
|
||||
#define PIN_ADC0_AD1 {1 << 30, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD2 pin definition. */
|
||||
#define PIN_ADC0_AD2 {1 << 3, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD3 pin definition. */
|
||||
#define PIN_ADC0_AD3 {1 << 4, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD4 pin definition. */
|
||||
#define PIN_ADC0_AD4 {1 << 15, PIOC, ID_PIOC, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD5 pin definition. */
|
||||
#define PIN_ADC0_AD5 {1 << 16, PIOC, ID_PIOC, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD6 pin definition. */
|
||||
#define PIN_ADC0_AD6 {1 << 17, PIOC, ID_PIOC, PIO_INPUT, PIO_DEFAULT}
|
||||
/** ADC_AD7 pin definition. */
|
||||
#define PIN_ADC0_AD7 {1 << 18, PIOC, ID_PIOC, PIO_INPUT, PIO_DEFAULT}
|
||||
|
||||
/** Pins ADC */
|
||||
#define PINS_ADC PIN_ADC0_AD0, PIN_ADC0_AD1, PIN_ADC0_AD2, PIN_ADC0_AD3, PIN_ADC0_AD4, PIN_ADC0_AD5, PIN_ADC0_AD6, PIN_ADC0_AD7
|
||||
|
||||
/** Startup time max, return from Idle mode (in µs) */
|
||||
#define ADC_STARTUP_TIME_MAX 15
|
||||
/** Track and hold Acquisition Time min (in ns) */
|
||||
#define ADC_TRACK_HOLD_TIME_MIN 1200
|
||||
/** ADC clock frequence */
|
||||
#define BOARD_ADC_FREQ (6000000)
|
||||
|
||||
/** UART pins (UTXD0 and URXD0) definitions, PA9,10. */
|
||||
#define PINS_UART {0x00000600, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
|
||||
/** EBI Data Bus pins */
|
||||
#define PIN_EBI_DATA_BUS {0xFF, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI NRD pin */
|
||||
#define PIN_EBI_NRD {1 << 11, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI NWE pin */
|
||||
#define PIN_EBI_NWE {1 << 8, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI NCS0 pin */
|
||||
#define PIN_EBI_NCS0 {1 << 20, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI pins for PSRAM address bus */
|
||||
#define PIN_EBI_PSRAM_ADDR_BUS {0x3f00fff, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI pins for PSRAM NBS pins */
|
||||
#define PIN_EBI_PSRAM_NBS {1 << 7, PIOB, ID_PIOB, PIO_PERIPH_B, PIO_PULLUP}, \
|
||||
{1 << 15, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI A1 pin */
|
||||
#define PIN_EBI_A1 {1 << 19, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** EBI NCS1 pin */
|
||||
#define PIN_EBI_NCS1 {1 << 15, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP} /* LCD CS pin */
|
||||
/** EBI pin for LCD RS */
|
||||
#define PIN_EBI_LCD_RS {1 << 19, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP} /* LCD RS pin */
|
||||
|
||||
#define LED_BLUE 0
|
||||
#define LED_GREEN 1
|
||||
#define LED_RED 2
|
||||
|
||||
#ifdef BOARD_REV_A
|
||||
/** LED #0 pin definition (BLUE). */
|
||||
#define PIN_LED_0 {PIO_PC20, PIOC, ID_PIOC, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
/** LED #1 pin definition (GREEN). */
|
||||
#define PIN_LED_1 {PIO_PC21, PIOC, ID_PIOC, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
/** LED #2 pin definition (RED). */
|
||||
#define PIN_LED_2 {PIO_PC22, PIOC, ID_PIOC, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
#endif
|
||||
|
||||
#ifdef BOARD_REV_B
|
||||
/** LED #0 pin definition (BLUE). */
|
||||
#define PIN_LED_0 {PIO_PA19, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
/** LED #1 pin definition (GREEN). */
|
||||
#define PIN_LED_1 {PIO_PA20, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
/** LED #2 pin definition (RED). */
|
||||
#define PIN_LED_2 {PIO_PC20, PIOC, ID_PIOC, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
|
||||
#endif
|
||||
|
||||
/** List of all LEDs definitions. */
|
||||
#define PINS_LEDS PIN_LED_0, PIN_LED_1, PIN_LED_2
|
||||
|
||||
/** MCI pins definition. */
|
||||
#define PINS_MCI {0x3fUL << 26, PIOA, ID_PIOA, PIO_PERIPH_C, PIO_PULLUP}
|
||||
/** MCI pin Card Detect. */
|
||||
#ifdef BOARD_REV_A
|
||||
#define PIN_MCI_CD {PIO_PA15, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLUP}
|
||||
#endif
|
||||
|
||||
#ifdef BOARD_REV_B
|
||||
#define PIN_MCI_CD {PIO_PA6, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLUP}
|
||||
#endif
|
||||
|
||||
/** Push button #0 definition. Attributes = pull-up + debounce + interrupt on rising edge. */
|
||||
#define PIN_PUSHBUTTON_1 {PIO_PB3, PIOB, ID_PIOB, PIO_INPUT, PIO_PULLUP | PIO_DEBOUNCE | PIO_IT_RISE_EDGE}
|
||||
/** Push button #1 definition. Attributes = pull-up + debounce + interrupt on falling edge. */
|
||||
#define PIN_PUSHBUTTON_2 {PIO_PC12, PIOC, ID_PIOC, PIO_INPUT, PIO_PULLUP | PIO_DEBOUNCE | PIO_IT_FALL_EDGE}
|
||||
/** List of all push button definitions. */
|
||||
#define PINS_PUSHBUTTONS PIN_PUSHBUTTON_1, PIN_PUSHBUTTON_2
|
||||
|
||||
/** Push button #1 index. */
|
||||
#define PUSHBUTTON_BP1 0
|
||||
/** Push button #2 index. */
|
||||
#define PUSHBUTTON_BP2 1
|
||||
|
||||
/** Simulated joystick LEFT index. */
|
||||
#define JOYSTICK_LEFT 0
|
||||
/** Simulated joystick RIGHT index. */
|
||||
#define JOYSTICK_RIGHT 1
|
||||
|
||||
/** PWMC PWM0 pin definition: Output High. */
|
||||
#define PIN_PWMC_PWMH0 {PIO_PC18B_PWMH0, PIOC, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
/** PWMC PWM0 pin definition: Output Low. */
|
||||
#define PIN_PWMC_PWML0 {PIO_PA19B_PWML0, PIOA, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
/** PWMC PWM1 pin definition: Output High. */
|
||||
#define PIN_PWMC_PWMH1 {PIO_PC19B_PWMH1, PIOC, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
/** PWMC PWM1 pin definition: Output Low. */
|
||||
#define PIN_PWMC_PWML1 {PIO_PA20B_PWML1, PIOA, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
/** PWMC PWM2 pin definition: Output High. */
|
||||
#define PIN_PWMC_PWMH2 {PIO_PC20B_PWMH2, PIOC, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
/** PWMC PWM2 pin definition: Output Low. */
|
||||
#define PIN_PWMC_PWML2 {PIO_PA16C_PWML2, PIOA, ID_PIOA, PIO_PERIPH_C, PIO_DEFAULT}
|
||||
/** PWMC PWM3 pin definition: Output High. */
|
||||
#define PIN_PWMC_PWMH3 {PIO_PC21B_PWMH3, PIOC, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
/** PWMC PWM3 pin definition: Output Low. */
|
||||
#define PIN_PWMC_PWML3 {PIO_PA15C_PWML3, PIOA, ID_PIOA, PIO_PERIPH_C, PIO_DEFAULT}
|
||||
/** PWM pins definition for LED0 */
|
||||
#define PIN_PWM_LED0 PIN_PWMC_PWMH0, PIN_PWMC_PWML0
|
||||
/** PWM pins definition for LED1 */
|
||||
#define PIN_PWM_LED1 PIN_PWMC_PWMH1, PIN_PWMC_PWML1
|
||||
/** PWM pins definition for LED2 */
|
||||
#define PIN_PWM_LED2 PIN_PWMC_PWMH2, PIN_PWMC_PWML2
|
||||
/** PWM channel for LED0 */
|
||||
#define CHANNEL_PWM_LED0 0
|
||||
/** PWM channel for LED1 */
|
||||
#define CHANNEL_PWM_LED1 1
|
||||
/** PWM channel for LED2 */
|
||||
#define CHANNEL_PWM_LED2 2
|
||||
|
||||
/** SPI MISO pin definition. */
|
||||
#define PIN_SPI_MISO {PIO_PA12A_MISO, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** SPI MOSI pin definition. */
|
||||
#define PIN_SPI_MOSI {PIO_PA13A_MOSI, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** SPI SPCK pin definition. */
|
||||
#define PIN_SPI_SPCK {PIO_PA14A_SPCK, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** SPI chip select pin definition. */
|
||||
#define PIN_SPI_NPCS0_PA11 {PIO_PA11A_NPCS0, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** List of SPI pin definitions (MISO, MOSI & SPCK). */
|
||||
#define PINS_SPI PIN_SPI_MISO, PIN_SPI_MOSI, PIN_SPI_SPCK
|
||||
|
||||
/** SSC pin Transmitter Data (TD) */
|
||||
#define PIN_SSC_TD {PIO_PA17A_TD, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** SSC pin Transmitter Clock (TK) */
|
||||
#define PIN_SSC_TK {PIO_PA16A_TK, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** SSC pin Transmitter FrameSync (TF) */
|
||||
#define PIN_SSC_TF {PIO_PA15A_TF, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** SSC pins definition for codec. */
|
||||
#define PINS_SSC_CODEC PIN_SSC_TD, PIN_SSC_TK, PIN_SSC_TF
|
||||
|
||||
/** PCK0 */
|
||||
#define PIN_PCK0 {PIO_PA6B_PCK0, PIOA, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
#define PIN_PCK1 {PIO_PA17B_PCK1,PIOA, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT}
|
||||
|
||||
/** PIO PARALLEL CAPTURE */
|
||||
/** Parallel Capture Mode Data Enable1 */
|
||||
#define PIN_PIODCEN1 PIO_PA15
|
||||
/** Parallel Capture Mode Data Enable2 */
|
||||
#define PIN_PIODCEN2 PIO_PA16
|
||||
|
||||
/** TWI ver 3.xx */
|
||||
#define TWI_V3XX
|
||||
/** TWI0 data pin */
|
||||
#define PIN_TWI_TWD0 {PIO_PA3A_TWD0, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** TWI0 clock pin */
|
||||
#define PIN_TWI_TWCK0 {PIO_PA4A_TWCK0, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** TWI0 pins */
|
||||
#define PINS_TWI0 PIN_TWI_TWD0, PIN_TWI_TWCK0
|
||||
/** TWI1 data pin */
|
||||
#define PIN_TWI_TWD1 {PIO_PB4A_TWD1, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** TWI1 clock pin */
|
||||
#define PIN_TWI_TWCK1 {PIO_PB5A_TWCK1, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** TWI1 pins */
|
||||
#define PINS_TWI1 PIN_TWI_TWD1, PIN_TWI_TWCK1
|
||||
|
||||
/** USART0 pin RX */
|
||||
#define PIN_USART0_RXD {PIO_PA5A_RXD0, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART0 pin TX */
|
||||
#define PIN_USART0_TXD {PIO_PA6A_TXD0, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART0 pin CTS */
|
||||
#define PIN_USART0_CTS {PIO_PA8A_CTS0, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART0 pin RTS */
|
||||
#define PIN_USART0_RTS {PIO_PA7A_RTS0, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART0 pin SCK */
|
||||
#define PIN_USART0_SCK {PIO_PA2B_SCK0, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
|
||||
/** USART1 pin RX */
|
||||
#define PIN_USART1_RXD {PIO_PA21A_RXD1, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART1 pin TX */
|
||||
#define PIN_USART1_TXD {PIO_PA22A_TXD1, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART1 pin CTS */
|
||||
#define PIN_USART1_CTS {PIO_PA25A_CTS1, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART1 pin RTS */
|
||||
#define PIN_USART1_RTS {PIO_PA24A_RTS1, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
/** USART1 pin ENABLE */
|
||||
#define PIN_USART1_EN {PIO_PA23A_SCK1, PIOA, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT}
|
||||
/** USART1 pin SCK */
|
||||
#define PIN_USART1_SCK {PIO_PA23A_SCK1, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT}
|
||||
|
||||
/** USB VBus monitoring pin definition. */
|
||||
#ifdef BOARD_REV_A
|
||||
#define PIN_USB_VBUS {PIO_PC23, PIOC, ID_PIOC, PIO_INPUT, PIO_PULLUP}
|
||||
#endif
|
||||
|
||||
#ifdef BOARD_REV_B
|
||||
#define PIN_USB_VBUS {PIO_PC21, PIOC, ID_PIOC, PIO_INPUT, PIO_PULLUP}
|
||||
#endif
|
||||
|
||||
/** NandFlash pins definition: OE. */
|
||||
#define PIN_EBI_NANDOE {PIO_PC9, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** NandFlash pins definition: WE. */
|
||||
#define PIN_EBI_NANDWE {PIO_PC10, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** NandFlash pins definition: CLE. */
|
||||
#define PIN_EBI_NANDCLE {PIO_PC17, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** NandFlash pins definition: ALE. */
|
||||
#define PIN_EBI_NANDALE {PIO_PC16, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
/** NandFlash pins definition: DATA. */
|
||||
#define PIN_EBI_NANDIO {0x000000FF, PIOC, ID_PIOC, PIO_PERIPH_A, PIO_PULLUP}
|
||||
|
||||
/** Nandflash chip enable pin definition. */
|
||||
#define BOARD_NF_CE_PIN {PIO_PC14, PIOC, ID_PIOC, PIO_OUTPUT_1, PIO_DEFAULT}
|
||||
|
||||
/** Nandflash controller peripheral pins definition. */
|
||||
#define PINS_NANDFLASH PIN_EBI_NANDIO, BOARD_NF_CE_PIN, PIN_EBI_NANDOE, \
|
||||
PIN_EBI_NANDWE, PIN_EBI_NANDCLE, PIN_EBI_NANDALE
|
||||
|
||||
/* PIO definitions for Slider */
|
||||
#define SLIDER_IOMASK_SNS (uint32_t)(PIO_PA0 | PIO_PA2 | PIO_PA4)
|
||||
#define SLIDER_IOMASK_SNSK (uint32_t)(PIO_PA1 | PIO_PA3 | PIO_PA5)
|
||||
#define PINS_SLIDER_SNS {SLIDER_IOMASK_SNS, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT}
|
||||
#define PINS_SLIDER_SNSK {SLIDER_IOMASK_SNSK, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT}
|
||||
|
||||
/* PIO definitions for keys */
|
||||
#define KEY_IOMASK_SNS (uint32_t)(PIO_PC22 | PIO_PC24 | PIO_PC26 | PIO_PC28 | PIO_PC30)
|
||||
#define KEY_IOMASK_SNSK (uint32_t)(PIO_PC23 | PIO_PC25 | PIO_PC27 | PIO_PC29 | PIO_PC31)
|
||||
#define PINS_KEY_SNS {KEY_IOMASK_SNS, PIOC, ID_PIOC, PIO_INPUT, PIO_DEFAULT}
|
||||
#define PINS_KEY_SNSK {KEY_IOMASK_SNSK, PIOC, ID_PIOC, PIO_INPUT, PIO_DEFAULT}
|
||||
|
||||
/* PIOS for QTouch */
|
||||
#define PINS_QTOUCH PINS_SLIDER_SNS, PINS_SLIDER_SNSK, PINS_KEY_SNS, PINS_KEY_SNSK
|
||||
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_usb "SAM3S-EK - USB device"
|
||||
*
|
||||
* \section Definitions
|
||||
* - \ref BOARD_USB_BMATTRIBUTES
|
||||
* - \ref CHIP_USB_UDP
|
||||
* - \ref CHIP_USB_PULLUP_INTERNAL
|
||||
* - \ref CHIP_USB_NUMENDPOINTS
|
||||
* - \ref CHIP_USB_ENDPOINTS_MAXPACKETSIZE
|
||||
* - \ref CHIP_USB_ENDPOINTS_BANKS
|
||||
*/
|
||||
|
||||
/** USB attributes configuration descriptor (bus or self powered, remote wakeup) */
|
||||
#define BOARD_USB_BMATTRIBUTES USBConfigurationDescriptor_SELFPOWERED_RWAKEUP
|
||||
|
||||
/** Indicates chip has an UDP Full Speed. */
|
||||
#define CHIP_USB_UDP
|
||||
|
||||
/** Indicates chip has an internal pull-up. */
|
||||
#define CHIP_USB_PULLUP_INTERNAL
|
||||
|
||||
/** Number of USB endpoints */
|
||||
#define CHIP_USB_NUMENDPOINTS 8
|
||||
|
||||
/** Endpoints max paxcket size */
|
||||
#define CHIP_USB_ENDPOINTS_MAXPACKETSIZE(i) \
|
||||
((i == 0) ? 64 : \
|
||||
((i == 1) ? 64 : \
|
||||
((i == 2) ? 64 : \
|
||||
((i == 3) ? 64 : \
|
||||
((i == 4) ? 512 : \
|
||||
((i == 5) ? 512 : \
|
||||
((i == 6) ? 64 : \
|
||||
((i == 7) ? 64 : 0 ))))))))
|
||||
|
||||
/** Endpoints Number of Bank */
|
||||
#define CHIP_USB_ENDPOINTS_BANKS(i) \
|
||||
((i == 0) ? 1 : \
|
||||
((i == 1) ? 2 : \
|
||||
((i == 2) ? 2 : \
|
||||
((i == 3) ? 1 : \
|
||||
((i == 4) ? 2 : \
|
||||
((i == 5) ? 2 : \
|
||||
((i == 6) ? 2 : \
|
||||
((i == 7) ? 2 : 0 ))))))))
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_extcomp "SAM3S-EK - External components"
|
||||
* This page lists the definitions related to external on-board components
|
||||
* located in the board.h file for the AT91SAM3S-EK.
|
||||
*
|
||||
* SD Card
|
||||
* - \ref BOARD_SD_PINS
|
||||
* - \ref BOARD_SD_PIN_CD
|
||||
*
|
||||
* LCD
|
||||
* - \ref BOARD_LCD_ILI9325
|
||||
* - \ref BOARD_LCD_PINS
|
||||
* - \ref BOARD_BACKLIGHT_PIN
|
||||
* - \ref BOARD_LCD_BASE
|
||||
* - \ref BOARD_LCD_RS
|
||||
* - \ref BOARD_LCD_WIDTH
|
||||
* - \ref BOARD_LCD_HEIGHT
|
||||
*
|
||||
* TouchScreen
|
||||
* - \ref BOARD_TSC_ADS7843
|
||||
* - \ref PIN_TCS_IRQ
|
||||
* - \ref PIN_TCS_BUSY
|
||||
* - \ref BOARD_TSC_SPI_BASE
|
||||
* - \ref BOARD_TSC_SPI_ID
|
||||
* - \ref BOARD_TSC_SPI_PINS
|
||||
* - \ref BOARD_TSC_NPCS
|
||||
* - \ref BOARD_TSC_NPCS_PIN
|
||||
*
|
||||
* SmartCard
|
||||
* - \ref SMARTCARD_CONNECT_PIN
|
||||
* - \ref PIN_ISO7816_RSTMC
|
||||
* - \ref PINS_ISO7816
|
||||
*/
|
||||
|
||||
/** MCI pins that shall be configured to access the SD card. */
|
||||
#define BOARD_SD_PINS PINS_MCI
|
||||
/** MCI Card Detect pin. */
|
||||
#define BOARD_SD_PIN_CD PIN_MCI_CD
|
||||
|
||||
/** Indicates board has an ILI9325 external component to manage LCD. */
|
||||
#define BOARD_LCD_ILI9325
|
||||
|
||||
/** LCD pins definition. */
|
||||
#define BOARD_LCD_PINS PIN_EBI_DATA_BUS, PIN_EBI_NRD, PIN_EBI_NWE, PIN_EBI_NCS1, PIN_EBI_LCD_RS
|
||||
/** Backlight pin definition. */
|
||||
#define BOARD_BACKLIGHT_PIN {PIO_PC13, PIOC, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT}
|
||||
/** Define ILI9325 base address. */
|
||||
#define BOARD_LCD_BASE 0x61000000
|
||||
/** Define ILI9325 register select signal. */
|
||||
#define BOARD_LCD_RS (1 << 1)
|
||||
/** Display width in pixels. */
|
||||
#define BOARD_LCD_WIDTH 240
|
||||
/** Display height in pixels. */
|
||||
#define BOARD_LCD_HEIGHT 320
|
||||
|
||||
/** Indicates board has an ADS7843 external component to manage Touch Screen */
|
||||
#define BOARD_TSC_ADS7843
|
||||
|
||||
/** Touchscreen controller IRQ pin definition. */
|
||||
#ifdef BOARD_REV_A
|
||||
#define PIN_TSC_IRQ {PIO_PA4, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLUP}
|
||||
#define PIN_TSC_IRQ_WUP_ID (1 << 3)
|
||||
/** Touchscreen controller Busy pin definition. */
|
||||
#define PIN_TSC_BUSY {PIO_PA5, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLUP}
|
||||
#endif
|
||||
|
||||
#ifdef BOARD_REV_B
|
||||
#define PIN_TSC_IRQ {PIO_PA16, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLUP}
|
||||
#define PIN_TSC_IRQ_WUP_ID (1 << 15)
|
||||
/** Touchscreen controller Busy pin definition. */
|
||||
#define PIN_TSC_BUSY {PIO_PA17, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLUP}
|
||||
#endif
|
||||
|
||||
/** Base address of SPI peripheral connected to the touchscreen controller. */
|
||||
#define BOARD_TSC_SPI_BASE SPI
|
||||
/** Identifier of SPI peripheral connected to the touchscreen controller. */
|
||||
#define BOARD_TSC_SPI_ID ID_SPI
|
||||
/** Pins of the SPI peripheral connected to the touchscreen controller. */
|
||||
#define BOARD_TSC_SPI_PINS PINS_SPI
|
||||
/** Chip select connected to the touchscreen controller. */
|
||||
#define BOARD_TSC_NPCS 0
|
||||
/** Chip select pin connected to the touchscreen controller. */
|
||||
#define BOARD_TSC_NPCS_PIN PIN_SPI_NPCS0_PA11
|
||||
|
||||
/// Smartcard detection pin
|
||||
//#define SMARTCARD_CONNECT_PIN {1 << 13, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT}
|
||||
|
||||
/// PIN used for reset the smartcard
|
||||
#define PIN_ISO7816_RSTMC {1 << 11, PIOA, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT}
|
||||
/// Pins used for connect the smartcard
|
||||
#define PINS_ISO7816 PIN_USART1_TXD, PIN_USART1_SCK, PIN_ISO7816_RSTMC
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_mem "SAM3S-EK - Memories"
|
||||
* This page lists definitions related to internal & external on-board memories.
|
||||
*
|
||||
* \section SRAM
|
||||
* - \ref AT91C_ISRAM
|
||||
* - \ref AT91C_ISRAM_SIZE
|
||||
*
|
||||
* \section Flash
|
||||
* - \ref AT91C_IFLASH_SIZE
|
||||
* - \ref AT91C_IFLASH_PAGE_SIZE
|
||||
* - \ref AT91C_IFLASH_NB_OF_PAGES
|
||||
* - \ref AT91C_IFLASH_LOCK_REGION_SIZE
|
||||
* - \ref AT91C_IFLASH_NB_OF_LOCK_BITS
|
||||
*
|
||||
* \section NandFlash
|
||||
* - \ref BOARD_NF_COMMAND_ADDR
|
||||
* - \ref BOARD_NF_ADDRESS_ADDR
|
||||
* - \ref BOARD_NF_DATA_ADDR
|
||||
*
|
||||
* \section NorFlash
|
||||
* - \ref BOARD_NORFLASH_ADDR
|
||||
* - \ref BOARD_NORFLASH_DFT_BUS_SIZE
|
||||
*/
|
||||
|
||||
/** Address for transferring command bytes to the nandflash. */
|
||||
#define BOARD_NF_COMMAND_ADDR 0x60400000
|
||||
/** Address for transferring address bytes to the nandflash. */
|
||||
#define BOARD_NF_ADDRESS_ADDR 0x60200000
|
||||
/** Address for transferring data bytes to the nandflash. */
|
||||
#define BOARD_NF_DATA_ADDR 0x60000000
|
||||
|
||||
/** Address for transferring command bytes to the norflash. */
|
||||
#define BOARD_NORFLASH_ADDR 0x63000000
|
||||
/** Default NOR bus size after power up reset */
|
||||
#define BOARD_NORFLASH_DFT_BUS_SIZE 8
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \page sam3s_ek_chipdef "SAM3S-EK - Individual chip definition"
|
||||
* This page lists the definitions related to different chip's definition
|
||||
* located in the board.h file for the SAM3S-EK.
|
||||
*
|
||||
* \section USART
|
||||
* - \ref BOARD_PIN_USART_RXD
|
||||
* - \ref BOARD_PIN_USART_TXD
|
||||
* - \ref BOARD_PIN_USART_CTS
|
||||
* - \ref BOARD_PIN_USART_RTS
|
||||
* - \ref BOARD_PIN_USART_EN
|
||||
* - \ref BOARD_USART_BASE
|
||||
* - \ref BOARD_ID_USART
|
||||
*/
|
||||
|
||||
/** Rtc */
|
||||
#define BOARD_RTC_ID ID_RTC
|
||||
|
||||
/** TWI ID for EEPROM application to use */
|
||||
#define BOARD_ID_TWI_EEPROM ID_TWI1
|
||||
/** TWI ID for SLAVE application to use */
|
||||
#define BOARD_ID_TWI_SLAVE ID_TWI1
|
||||
/** TWI Base for TWI EEPROM application to use */
|
||||
#define BOARD_BASE_TWI_EEPROM TWI1
|
||||
/** TWI Base for TWI SLAVE application to use */
|
||||
#define BOARD_BASE_TWI_SLAVE TWI1
|
||||
/** TWI pins for EEPROM application to use */
|
||||
#define BOARD_PINS_TWI_EEPROM PINS_TWI1
|
||||
/** TWI pins for TWI SLAVE application to use */
|
||||
#define BOARD_PINS_TWI_SLAVE PINS_TWI1
|
||||
|
||||
/** USART RX pin for application */
|
||||
#define BOARD_PIN_USART_RXD PIN_USART1_RXD
|
||||
/** USART TX pin for application */
|
||||
#define BOARD_PIN_USART_TXD PIN_USART1_TXD
|
||||
/** USART CTS pin for application */
|
||||
#define BOARD_PIN_USART_CTS PIN_USART1_CTS
|
||||
/** USART RTS pin for application */
|
||||
#define BOARD_PIN_USART_RTS PIN_USART1_RTS
|
||||
/** USART ENABLE pin for application */
|
||||
#define BOARD_PIN_USART_EN PIN_USART1_EN
|
||||
/** USART Base for application */
|
||||
#define BOARD_USART_BASE USART1
|
||||
/** USART ID for application */
|
||||
#define BOARD_ID_USART ID_USART1
|
||||
|
||||
#endif /* #ifndef _BOARD_ */
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/**
|
||||
* \file
|
||||
*
|
||||
* Interface for the low-level initialization function.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef BOARD_LOWLEVEL_H
|
||||
#define BOARD_LOWLEVEL_H
|
||||
|
||||
/*----------------------------------------------------------------------------
|
||||
* Exported functions
|
||||
*----------------------------------------------------------------------------*/
|
||||
extern void LowLevelInit( void ) ;
|
||||
|
||||
#endif /* BOARD_LOWLEVEL_H */
|
||||
|
||||
@@ -0,0 +1,81 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/*------------------------------------------------------------------------------
|
||||
* Linker script for running in internal SRAM on the AT91SAM3S1
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(ResetException)
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
sram (W!RX) : ORIGIN = 0x20000000, LENGTH = 0x00004000 /* sram, 16K */
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.fixed :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_sfixed = .;
|
||||
KEEP(*(.vectors))
|
||||
*(.text*)
|
||||
*(.ramfunc)
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
. = ALIGN(4);
|
||||
_efixed = .; /* End of text section */
|
||||
} > sram
|
||||
|
||||
.relocate : AT (_efixed)
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_srelocate = .;
|
||||
*(.data)
|
||||
. = ALIGN(4);
|
||||
_erelocate = .;
|
||||
} >sram
|
||||
|
||||
.bss (NOLOAD) : {
|
||||
. = ALIGN(4);
|
||||
_szero = .;
|
||||
*(.bss)
|
||||
. = ALIGN(4);
|
||||
_ezero = .;
|
||||
} >sram
|
||||
|
||||
/* Stack in the end of SRAM */
|
||||
_estack = 0x20003FFC;
|
||||
|
||||
}
|
||||
end = .;
|
||||
@@ -0,0 +1,91 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/*------------------------------------------------------------------------------
|
||||
* Linker script for running in internal SRAM on the AT91SAM3S1
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(entry)
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
romcodesram (W!RX) : ORIGIN = 0x20000000, LENGTH = 0x0800
|
||||
sram (W!RX) : ORIGIN = 0x20000800, LENGTH = 0x00003800 /* sram, 16K - sizeof(romcodesram) */
|
||||
}
|
||||
|
||||
/* Entry point */
|
||||
/*ENTRY (ResetException)*/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* startup code in the .isr_vector */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_stext = .;
|
||||
KEEP(*(.isr_vector .isr_vector.*))
|
||||
*(.mailbox)
|
||||
*(.text .text.*)
|
||||
*(.rodata .rodata.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.gcc_except_table)
|
||||
*(.rodata .rodata*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
} > sram
|
||||
|
||||
/* data */
|
||||
.data :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_sidata = .;
|
||||
_sdata = .;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
_edata = .;
|
||||
} > sram
|
||||
|
||||
.bss (NOLOAD) : {
|
||||
_szero = .;
|
||||
*(.bss)
|
||||
. = ALIGN(4);
|
||||
_ezero = .;
|
||||
} >sram
|
||||
|
||||
/* Stack in SRAM */
|
||||
_sstack = 0x20003FFC;
|
||||
}
|
||||
end = .;
|
||||
@@ -0,0 +1,81 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/*------------------------------------------------------------------------------
|
||||
* Linker script for running in internal SRAM on the AT91SAM3S2
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(ResetException)
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
sram (W!RX) : ORIGIN = 0x20000000, LENGTH = 0x00008000 /* sram, 32K */
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.fixed :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_sfixed = .;
|
||||
KEEP(*(.vectors))
|
||||
*(.text*)
|
||||
*(.ramfunc)
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
. = ALIGN(4);
|
||||
_efixed = .; /* End of text section */
|
||||
} > sram
|
||||
|
||||
.relocate : AT (_efixed)
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_srelocate = .;
|
||||
*(.data)
|
||||
. = ALIGN(4);
|
||||
_erelocate = .;
|
||||
} >sram
|
||||
|
||||
.bss (NOLOAD) : {
|
||||
. = ALIGN(4);
|
||||
_szero = .;
|
||||
*(.bss)
|
||||
. = ALIGN(4);
|
||||
_ezero = .;
|
||||
} >sram
|
||||
|
||||
/* Stack in the end of SRAM */
|
||||
_estack = 0x20007FFC;
|
||||
|
||||
}
|
||||
end = .;
|
||||
@@ -0,0 +1,91 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/*------------------------------------------------------------------------------
|
||||
* Linker script for running in internal SRAM on the AT91SAM3S2
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(entry)
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
romcodesram (W!RX) : ORIGIN = 0x20000000, LENGTH = 0x0800
|
||||
sram (W!RX) : ORIGIN = 0x20000800, LENGTH = 0x00007800 /* sram, 32K - sizeof(romcodesram) */
|
||||
}
|
||||
|
||||
/* Entry point */
|
||||
/*ENTRY (ResetException)*/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* startup code in the .isr_vector */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_stext = .;
|
||||
KEEP(*(.isr_vector .isr_vector.*))
|
||||
*(.mailbox)
|
||||
*(.text .text.*)
|
||||
*(.rodata .rodata.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.gcc_except_table)
|
||||
*(.rodata .rodata*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
} > sram
|
||||
|
||||
/* data */
|
||||
.data :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_sidata = .;
|
||||
_sdata = .;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
_edata = .;
|
||||
} > sram
|
||||
|
||||
.bss (NOLOAD) : {
|
||||
_szero = .;
|
||||
*(.bss)
|
||||
. = ALIGN(4);
|
||||
_ezero = .;
|
||||
} >sram
|
||||
|
||||
/* Stack in SRAM */
|
||||
_sstack = 0x20007FFC;
|
||||
}
|
||||
end = .;
|
||||
@@ -0,0 +1,215 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/*------------------------------------------------------------------------------
|
||||
* Linker script for running in internal SRAM on the AT91SAM3S4
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
OUTPUT_FORMAT ("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
|
||||
ENTRY(_start)
|
||||
SEARCH_DIR(.)
|
||||
GROUP(-lgcc -lc -lcs3 -lcs3unhosted -lcs3micro)
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
sram (W!RX) : ORIGIN = 0x20000000, LENGTH = 0x0000C000 /* sram, 48K */
|
||||
}
|
||||
|
||||
/* These force the linker to search for particular symbols from
|
||||
* the start of the link process and thus ensure the user's
|
||||
* overrides are picked up
|
||||
*/
|
||||
EXTERN(__cs3_reset_generic_m)
|
||||
INCLUDE atsam3s.inc
|
||||
EXTERN(__cs3_interrupt_vector_micro)
|
||||
EXTERN(__cs3_start_c main __cs3_stack __cs3_heap_end)
|
||||
|
||||
PROVIDE(__cs3_heap_start = _end);
|
||||
PROVIDE(__cs3_heap_end = __cs3_region_start_ram + __cs3_region_size_ram);
|
||||
PROVIDE(__cs3_region_num = (__cs3_regions_end - __cs3_regions) / 20);
|
||||
PROVIDE(__cs3_stack = __cs3_region_start_ram + __cs3_region_size_ram);
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
.text :
|
||||
{
|
||||
CREATE_OBJECT_SYMBOLS
|
||||
__cs3_region_start_ram = .;
|
||||
*(.cs3.region-head.ram)
|
||||
ASSERT (. == __cs3_region_start_ram, ".cs3.region-head.ram not permitted");
|
||||
__cs3_interrupt_vector = __cs3_interrupt_vector_micro;
|
||||
*(.cs3.interrupt_vector)
|
||||
/* Make sure we pulled in an interrupt vector. */
|
||||
ASSERT (. != __cs3_interrupt_vector_micro, "No interrupt vector");
|
||||
|
||||
_start = __cs3_reset_generic_m;
|
||||
__cs3_reset = __cs3_reset_generic_m;
|
||||
*(.cs3.reset)
|
||||
/* Make sure we pulled in some reset code. */
|
||||
ASSERT (. != __cs3_reset, "No reset code");
|
||||
|
||||
*(.text .text.* .gnu.linkonce.t.*)
|
||||
*(.plt)
|
||||
*(.gnu.warning)
|
||||
*(.glue_7t) *(.glue_7) *(.vfp11_veneer)
|
||||
|
||||
*(.ARM.extab* .gnu.linkonce.armextab.*)
|
||||
*(.gcc_except_table)
|
||||
} >ram
|
||||
.eh_frame_hdr : ALIGN (4)
|
||||
{
|
||||
KEEP (*(.eh_frame_hdr))
|
||||
} >ram
|
||||
.eh_frame : ALIGN (4)
|
||||
{
|
||||
KEEP (*(.eh_frame))
|
||||
} >ram
|
||||
/* .ARM.exidx is sorted, so has to go in its own output section. */
|
||||
__exidx_start = .;
|
||||
.ARM.exidx :
|
||||
{
|
||||
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
|
||||
} >ram
|
||||
__exidx_end = .;
|
||||
.rodata : ALIGN (4)
|
||||
{
|
||||
*(.rodata .rodata.* .gnu.linkonce.r.*)
|
||||
|
||||
. = ALIGN(4);
|
||||
KEEP(*(.init))
|
||||
|
||||
. = ALIGN(4);
|
||||
__preinit_array_start = .;
|
||||
KEEP (*(.preinit_array))
|
||||
__preinit_array_end = .;
|
||||
|
||||
. = ALIGN(4);
|
||||
__init_array_start = .;
|
||||
KEEP (*(SORT(.init_array.*)))
|
||||
KEEP (*(.init_array))
|
||||
__init_array_end = .;
|
||||
|
||||
. = ALIGN(4);
|
||||
KEEP(*(.fini))
|
||||
|
||||
. = ALIGN(4);
|
||||
__fini_array_start = .;
|
||||
KEEP (*(.fini_array))
|
||||
KEEP (*(SORT(.fini_array.*)))
|
||||
__fini_array_end = .;
|
||||
|
||||
. = ALIGN(0x4);
|
||||
KEEP (*crtbegin.o(.ctors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
|
||||
KEEP (*(SORT(.ctors.*)))
|
||||
KEEP (*crtend.o(.ctors))
|
||||
|
||||
. = ALIGN(0x4);
|
||||
KEEP (*crtbegin.o(.dtors))
|
||||
KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
|
||||
KEEP (*(SORT(.dtors.*)))
|
||||
KEEP (*crtend.o(.dtors))
|
||||
|
||||
. = ALIGN(4);
|
||||
__cs3_regions = .;
|
||||
LONG (0)
|
||||
LONG (__cs3_region_init_ram)
|
||||
LONG (__cs3_region_start_ram)
|
||||
LONG (__cs3_region_init_size_ram)
|
||||
LONG (__cs3_region_zero_size_ram)
|
||||
__cs3_regions_end = .;
|
||||
|
||||
. = ALIGN (8);
|
||||
_etext = .;
|
||||
} >ram
|
||||
|
||||
.data : ALIGN (8)
|
||||
{
|
||||
|
||||
KEEP(*(.jcr))
|
||||
*(.got.plt) *(.got)
|
||||
*(.shdata)
|
||||
*(.data .data.* .gnu.linkonce.d.*)
|
||||
. = ALIGN (8);
|
||||
*(.ram)
|
||||
_edata = .;
|
||||
} >ram
|
||||
.bss :
|
||||
{
|
||||
*(.shbss)
|
||||
*(.bss .bss.* .gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN (8);
|
||||
*(.ram.b)
|
||||
_end = .;
|
||||
__end = .;
|
||||
} >ram
|
||||
__cs3_region_init_ram = __cs3_region_start_ram;
|
||||
__cs3_region_init_size_ram = _edata - __cs3_region_start_ram;
|
||||
__cs3_region_zero_size_ram = _end - _edata;
|
||||
/* Default to 1M of heap */
|
||||
__cs3_region_size_ram = ALIGN (1024) - __cs3_region_start_ram + 1M;
|
||||
|
||||
.stab 0 (NOLOAD) : { *(.stab) }
|
||||
.stabstr 0 (NOLOAD) : { *(.stabstr) }
|
||||
/* DWARF debug sections.
|
||||
* Symbols in the DWARF debugging sections are relative to the beginning
|
||||
* of the section so we begin them at 0. */
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
/* DWARF 2.1 */
|
||||
.debug_ranges 0 : { *(.debug_ranges) }
|
||||
/* SGI/MIPS DWARF 2 extensions */
|
||||
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
|
||||
.note.gnu.arm.ident 0 : { KEEP (*(.note.gnu.arm.ident)) }
|
||||
.ARM.attributes 0 : { KEEP (*(.ARM.attributes)) }
|
||||
/DISCARD/ : { *(.note.GNU-stack) }
|
||||
}
|
||||
/* checksum: 576d003e2604ff7a1b02791267 */
|
||||
@@ -0,0 +1,91 @@
|
||||
/* ----------------------------------------------------------------------------
|
||||
* ATMEL Microcontroller Software Support
|
||||
* ----------------------------------------------------------------------------
|
||||
* Copyright (c) 2009, Atmel Corporation
|
||||
*
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the disclaimer below.
|
||||
*
|
||||
* Atmel's name may not be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR
|
||||
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
|
||||
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
|
||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
* ----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/*------------------------------------------------------------------------------
|
||||
* Linker script for running in internal SRAM on the AT91SAM3S4
|
||||
*----------------------------------------------------------------------------*/
|
||||
|
||||
OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
|
||||
OUTPUT_ARCH(arm)
|
||||
ENTRY(entry)
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
romcodesram (W!RX) : ORIGIN = 0x20000000, LENGTH = 0x01000
|
||||
sram (W!RX) : ORIGIN = 0x20001000, LENGTH = 0x0000B000 /* sram, 48K - sizeof(romcodesram) */
|
||||
}
|
||||
|
||||
/* Entry point */
|
||||
/*ENTRY (ResetException)*/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/* startup code in the .isr_vector */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_stext = .;
|
||||
KEEP(*(.isr_vector .isr_vector.*))
|
||||
*(.mailbox)
|
||||
*(.text .text.*)
|
||||
*(.rodata .rodata.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.gcc_except_table)
|
||||
*(.rodata .rodata*)
|
||||
*(.gnu.linkonce.r.*)
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
} > sram
|
||||
|
||||
/* data */
|
||||
.data :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_sidata = .;
|
||||
_sdata = .;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
_edata = .;
|
||||
} > sram
|
||||
|
||||
.bss (NOLOAD) : {
|
||||
_szero = .;
|
||||
*(.bss)
|
||||
. = ALIGN(4);
|
||||
_ezero = .;
|
||||
} >sram
|
||||
|
||||
/* Stack in SRAM */
|
||||
_sstack = 0x2000BFFC;
|
||||
}
|
||||
end = .;
|
||||
@@ -0,0 +1,63 @@
|
||||
#ifndef _LIB_ATSAM3S_
|
||||
#define _LIB_ATSAM3S_
|
||||
|
||||
/*
|
||||
* Peripherals registers definitions
|
||||
*/
|
||||
#if defined atsam3s4
|
||||
#include <include/ATSAM3S4.h>
|
||||
#elif defined atsam3s2
|
||||
#include <include/ATSAM3S2.h>
|
||||
#elif defined atsam3s1
|
||||
#include <include/ATSAM3S1.h>
|
||||
#else
|
||||
#warning Library does not support the specified chip, specifying atsam3s4.
|
||||
#define atsam3s4
|
||||
#include <include/ATSAM3S4.h>
|
||||
#endif
|
||||
|
||||
|
||||
/* Define attribute */
|
||||
#if defined ( __CC_ARM ) /* Keil µVision 4 */
|
||||
#define WEAK __attribute__ ((weak))
|
||||
#elif defined ( __ICCARM__ ) /* IAR Ewarm 5.41+ */
|
||||
#define WEAK __weak
|
||||
#elif defined ( __GNUC__ ) /* GCC CS3 2009q3-68 */
|
||||
#define WEAK __attribute__ ((weak))
|
||||
#endif
|
||||
|
||||
/* Define NO_INIT attribute */
|
||||
#if defined ( __CC_ARM )
|
||||
#define NO_INIT
|
||||
#elif defined ( __ICCARM__ )
|
||||
#define NO_INIT __no_init
|
||||
#elif defined ( __GNUC__ )
|
||||
#define NO_INIT
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Core
|
||||
*/
|
||||
|
||||
/*
|
||||
* Peripherals
|
||||
*/
|
||||
//#include <include/async.h>
|
||||
//#include <include/efc.h>
|
||||
//#include <include/flashd.h>
|
||||
//#include <include/pio.h>
|
||||
//#include <include/pmc.h>
|
||||
//#include <include/spi.h>
|
||||
//#include <include/spi_pdc.h>
|
||||
//#include <include/twi.h>
|
||||
//#include <include/twid.h>
|
||||
//#include <include/usart.h>
|
||||
|
||||
/*
|
||||
#include <USBD_Config.h>
|
||||
*/
|
||||
|
||||
//#include <include/trace.h>
|
||||
//#include <include/wdt.h>
|
||||
|
||||
#endif /* _LIB_ATSAM3S_ */
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,27 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/// @file GCS_MAVLink.cpp
|
||||
/// @brief Supporting bits for MAVLink.
|
||||
|
||||
#include "GCS_MAVLink.h"
|
||||
|
||||
BetterStream *mavlink_comm_0_port;
|
||||
BetterStream *mavlink_comm_1_port;
|
||||
|
||||
// this might need to move to the flight software
|
||||
mavlink_system_t mavlink_system = {7,1,0,0};
|
||||
|
||||
#ifdef MAVLINK10
|
||||
# include "include_v1.0/mavlink_helpers.h"
|
||||
#else
|
||||
# include "include/mavlink_helpers.h"
|
||||
#endif
|
||||
|
||||
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
|
||||
{
|
||||
if (sysid != mavlink_system.sysid)
|
||||
return 1;
|
||||
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
|
||||
// If it is addressed to our system ID we assume it is for us
|
||||
return 0; // no error
|
||||
}
|
||||
@@ -0,0 +1,128 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/// @file GCS_MAVLink.h
|
||||
/// @brief One size fits all header for MAVLink integration.
|
||||
|
||||
#ifndef GCS_MAVLink_h
|
||||
#define GCS_MAVLink_h
|
||||
|
||||
#include <BetterStream.h>
|
||||
|
||||
#define MAVLINK_SEPARATE_HELPERS
|
||||
|
||||
#ifdef MAVLINK10
|
||||
# include "include_v1.0/ardupilotmega/version.h"
|
||||
#else
|
||||
# include "include/ardupilotmega/version.h"
|
||||
#endif
|
||||
|
||||
// this allows us to make mavlink_message_t much smaller
|
||||
#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
|
||||
|
||||
#define MAVLINK_COMM_NUM_BUFFERS 2
|
||||
#ifdef MAVLINK10
|
||||
# include "include_v1.0/mavlink_types.h"
|
||||
#else
|
||||
# include "include/mavlink_types.h"
|
||||
#endif
|
||||
|
||||
/// MAVLink stream used for HIL interaction
|
||||
extern BetterStream *mavlink_comm_0_port;
|
||||
|
||||
/// MAVLink stream used for ground control communication
|
||||
extern BetterStream *mavlink_comm_1_port;
|
||||
|
||||
/// MAVLink system definition
|
||||
extern mavlink_system_t mavlink_system;
|
||||
|
||||
/// Send a byte to the nominated MAVLink channel
|
||||
///
|
||||
/// @param chan Channel to send to
|
||||
/// @param ch Byte to send
|
||||
///
|
||||
static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
|
||||
{
|
||||
switch(chan) {
|
||||
case MAVLINK_COMM_0:
|
||||
mavlink_comm_0_port->write(ch);
|
||||
break;
|
||||
case MAVLINK_COMM_1:
|
||||
mavlink_comm_1_port->write(ch);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/// Read a byte from the nominated MAVLink channel
|
||||
///
|
||||
/// @param chan Channel to receive on
|
||||
/// @returns Byte read
|
||||
///
|
||||
static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
|
||||
{
|
||||
uint8_t data = 0;
|
||||
|
||||
switch(chan) {
|
||||
case MAVLINK_COMM_0:
|
||||
data = mavlink_comm_0_port->read();
|
||||
break;
|
||||
case MAVLINK_COMM_1:
|
||||
data = mavlink_comm_1_port->read();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
/// Check for available data on the nominated MAVLink channel
|
||||
///
|
||||
/// @param chan Channel to check
|
||||
/// @returns Number of bytes available
|
||||
static inline uint16_t comm_get_available(mavlink_channel_t chan)
|
||||
{
|
||||
uint16_t bytes = 0;
|
||||
switch(chan) {
|
||||
case MAVLINK_COMM_0:
|
||||
bytes = mavlink_comm_0_port->available();
|
||||
break;
|
||||
case MAVLINK_COMM_1:
|
||||
bytes = mavlink_comm_1_port->available();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return bytes;
|
||||
}
|
||||
|
||||
|
||||
/// Check for available transmit space on the nominated MAVLink channel
|
||||
///
|
||||
/// @param chan Channel to check
|
||||
/// @returns Number of bytes available, -1 for error
|
||||
static inline int comm_get_txspace(mavlink_channel_t chan)
|
||||
{
|
||||
switch(chan) {
|
||||
case MAVLINK_COMM_0:
|
||||
return mavlink_comm_0_port->txspace();
|
||||
break;
|
||||
case MAVLINK_COMM_1:
|
||||
return mavlink_comm_1_port->txspace();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
#ifdef MAVLINK10
|
||||
# include "include_v1.0/ardupilotmega/mavlink.h"
|
||||
#else
|
||||
# include "include/ardupilotmega/mavlink.h"
|
||||
#endif
|
||||
|
||||
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);
|
||||
|
||||
#endif // GCS_MAVLink_h
|
||||
@@ -0,0 +1,172 @@
|
||||
/*
|
||||
compatibility header during transition to MAVLink 1.0
|
||||
*/
|
||||
|
||||
#ifdef MAVLINK10
|
||||
// in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
|
||||
// mappings once we are not trying to support both protocols
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN
|
||||
#define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send
|
||||
#define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN
|
||||
#define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send
|
||||
#define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode
|
||||
#define mavlink_waypoint_count_t mavlink_mission_count_t
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN
|
||||
#define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send
|
||||
#define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode
|
||||
#define mavlink_waypoint_request_t mavlink_mission_request_t
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN
|
||||
#define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send
|
||||
#define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode
|
||||
#define mavlink_waypoint_request_list_t mavlink_mission_request_list_t
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN
|
||||
#define mavlink_msg_waypoint_send mavlink_msg_mission_item_send
|
||||
#define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode
|
||||
#define mavlink_waypoint_t mavlink_mission_item_t
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN
|
||||
#define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send
|
||||
#define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode
|
||||
#define mavlink_waypoint_ack_t mavlink_mission_ack_t
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN
|
||||
#define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send
|
||||
#define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode
|
||||
#define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t
|
||||
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT
|
||||
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN
|
||||
#define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send
|
||||
#define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode
|
||||
#define mavlink_waypoint_set_current_t mavlink_mission_set_current_t
|
||||
|
||||
static uint8_t mav_var_type(enum ap_var_type t)
|
||||
{
|
||||
if (t == AP_PARAM_INT8) {
|
||||
return MAV_VAR_INT8;
|
||||
}
|
||||
if (t == AP_PARAM_INT16) {
|
||||
return MAV_VAR_INT16;
|
||||
}
|
||||
if (t == AP_PARAM_INT32) {
|
||||
return MAV_VAR_INT32;
|
||||
}
|
||||
// treat any others as float
|
||||
return MAV_VAR_FLOAT;
|
||||
}
|
||||
|
||||
#define MAV_FIXED_WING MAV_TYPE_FIXED_WING
|
||||
|
||||
#else // MAVLINK10
|
||||
|
||||
static uint8_t mav_var_type(enum ap_var_type t)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
#define MAV_MISSION_ACCEPTED 0
|
||||
#define MAV_MISSION_UNSUPPORTED 1
|
||||
#define MAV_MISSION_UNSUPPORTED_FRAME 1
|
||||
#define MAV_MISSION_ERROR 1
|
||||
#define MAV_MISSION_INVALID_SEQUENCE 1
|
||||
|
||||
/*
|
||||
some functions have some extra params in MAVLink 1.0
|
||||
*/
|
||||
|
||||
static void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon,
|
||||
int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy,
|
||||
int16_t vz, uint16_t hdg)
|
||||
{
|
||||
mavlink_msg_global_position_int_send(
|
||||
chan,
|
||||
lat,
|
||||
lon,
|
||||
alt,
|
||||
vx, vy, vz);
|
||||
}
|
||||
|
||||
static void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
|
||||
int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled,
|
||||
int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled,
|
||||
int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
|
||||
{
|
||||
mavlink_msg_rc_channels_scaled_send(
|
||||
chan,
|
||||
chan1_scaled,
|
||||
chan2_scaled,
|
||||
chan3_scaled,
|
||||
chan4_scaled,
|
||||
chan5_scaled,
|
||||
chan6_scaled,
|
||||
chan7_scaled,
|
||||
chan8_scaled,
|
||||
rssi);
|
||||
}
|
||||
|
||||
static void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port,
|
||||
uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw,
|
||||
uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw,
|
||||
uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
|
||||
{
|
||||
mavlink_msg_rc_channels_raw_send(
|
||||
chan,
|
||||
chan1_raw,
|
||||
chan2_raw,
|
||||
chan3_raw,
|
||||
chan4_raw,
|
||||
chan5_raw,
|
||||
chan6_raw,
|
||||
chan7_raw,
|
||||
chan8_raw,
|
||||
rssi);
|
||||
}
|
||||
|
||||
|
||||
static void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port,
|
||||
uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw,
|
||||
uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw,
|
||||
uint16_t servo7_raw, uint16_t servo8_raw)
|
||||
{
|
||||
mavlink_msg_servo_output_raw_send(
|
||||
chan,
|
||||
servo1_raw,
|
||||
servo2_raw,
|
||||
servo3_raw,
|
||||
servo4_raw,
|
||||
servo5_raw,
|
||||
servo6_raw,
|
||||
servo7_raw,
|
||||
servo8_raw);
|
||||
}
|
||||
|
||||
static void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
|
||||
{
|
||||
mavlink_msg_statustext_send(chan, severity, (const int8_t*) text);
|
||||
}
|
||||
|
||||
static void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id,
|
||||
float param_value, uint8_t param_type,
|
||||
uint16_t param_count, uint16_t param_index)
|
||||
{
|
||||
mavlink_msg_param_value_send(
|
||||
chan,
|
||||
(int8_t *)param_id,
|
||||
param_value,
|
||||
param_count,
|
||||
param_index);
|
||||
}
|
||||
#endif // MAVLINK10
|
||||
@@ -0,0 +1,150 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol generated from ardupilotmega.xml
|
||||
* @see http://qgroundcontrol.org/mavlink/
|
||||
*/
|
||||
#ifndef ARDUPILOTMEGA_H
|
||||
#define ARDUPILOTMEGA_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// MESSAGE LENGTHS AND CRCS
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_LENGTHS
|
||||
#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_CRCS
|
||||
#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 143, 29, 208, 188, 118, 242, 19, 97, 233, 0, 18, 68, 136, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_INFO
|
||||
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {NULL}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
|
||||
#endif
|
||||
|
||||
#include "../protocol.h"
|
||||
|
||||
#define MAVLINK_ENABLED_ARDUPILOTMEGA
|
||||
|
||||
#include "../common/common.h"
|
||||
|
||||
// MAVLINK VERSION
|
||||
|
||||
#ifndef MAVLINK_VERSION
|
||||
#define MAVLINK_VERSION 2
|
||||
#endif
|
||||
|
||||
#if (MAVLINK_VERSION == 0)
|
||||
#undef MAVLINK_VERSION
|
||||
#define MAVLINK_VERSION 2
|
||||
#endif
|
||||
|
||||
// ENUM DEFINITIONS
|
||||
|
||||
|
||||
/** @brief Enumeration of possible mount operation modes */
|
||||
#ifndef HAVE_ENUM_MAV_MOUNT_MODE
|
||||
#define HAVE_ENUM_MAV_MOUNT_MODE
|
||||
enum MAV_MOUNT_MODE
|
||||
{
|
||||
MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */
|
||||
MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */
|
||||
MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
|
||||
MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
|
||||
MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
|
||||
MAV_MOUNT_MODE_ENUM_END=5, /* | */
|
||||
};
|
||||
#endif
|
||||
|
||||
/** @brief */
|
||||
#ifndef HAVE_ENUM_MAV_CMD
|
||||
#define HAVE_ENUM_MAV_CMD
|
||||
enum MAV_CMD
|
||||
{
|
||||
MAV_CMD_NAV_WAYPOINT=16, /* Navigate to waypoint. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at waypoint (rotary wing)| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this waypoint an unlimited amount of time |Empty| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this waypoint for X turns |Turns| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this waypoint for X seconds |Seconds (decimal)| Empty| Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the
|
||||
vehicle itself. This can then be used by the vehicles control
|
||||
system to control the vehicle attitude and the attitude of various
|
||||
sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
|
||||
MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
|
||||
MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
|
||||
MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
|
||||
MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
|
||||
MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the
|
||||
vehicle itself. This can then be used by the vehicles control
|
||||
system to control the vehicle attitude and the attitude of various
|
||||
devices such as cameras.
|
||||
|Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
|
||||
MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| */
|
||||
MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| */
|
||||
MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty| */
|
||||
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
|
||||
MAV_CMD_ENUM_END=246, /* | */
|
||||
};
|
||||
#endif
|
||||
|
||||
/** @brief */
|
||||
#ifndef HAVE_ENUM_FENCE_ACTION
|
||||
#define HAVE_ENUM_FENCE_ACTION
|
||||
enum FENCE_ACTION
|
||||
{
|
||||
FENCE_ACTION_NONE=0, /* Disable fenced mode | */
|
||||
FENCE_ACTION_GUIDED=1, /* Switched to guided mode to return point (fence point 0) | */
|
||||
FENCE_ACTION_ENUM_END=2, /* | */
|
||||
};
|
||||
#endif
|
||||
|
||||
/** @brief */
|
||||
#ifndef HAVE_ENUM_FENCE_BREACH
|
||||
#define HAVE_ENUM_FENCE_BREACH
|
||||
enum FENCE_BREACH
|
||||
{
|
||||
FENCE_BREACH_NONE=0, /* No last fence breach | */
|
||||
FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */
|
||||
FENCE_BREACH_MAXALT=2, /* Breached minimum altitude | */
|
||||
FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */
|
||||
FENCE_BREACH_ENUM_END=4, /* | */
|
||||
};
|
||||
#endif
|
||||
|
||||
// MESSAGE DEFINITIONS
|
||||
#include "./mavlink_msg_sensor_offsets.h"
|
||||
#include "./mavlink_msg_set_mag_offsets.h"
|
||||
#include "./mavlink_msg_meminfo.h"
|
||||
#include "./mavlink_msg_ap_adc.h"
|
||||
#include "./mavlink_msg_digicam_configure.h"
|
||||
#include "./mavlink_msg_digicam_control.h"
|
||||
#include "./mavlink_msg_mount_configure.h"
|
||||
#include "./mavlink_msg_mount_control.h"
|
||||
#include "./mavlink_msg_mount_status.h"
|
||||
#include "./mavlink_msg_fence_point.h"
|
||||
#include "./mavlink_msg_fence_fetch_point.h"
|
||||
#include "./mavlink_msg_fence_status.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif // __cplusplus
|
||||
#endif // ARDUPILOTMEGA_H
|
||||
@@ -0,0 +1,27 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol built from ardupilotmega.xml
|
||||
* @see http://pixhawk.ethz.ch/software/mavlink
|
||||
*/
|
||||
#ifndef MAVLINK_H
|
||||
#define MAVLINK_H
|
||||
|
||||
#ifndef MAVLINK_STX
|
||||
#define MAVLINK_STX 85
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_ENDIAN
|
||||
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_ALIGNED_FIELDS
|
||||
#define MAVLINK_ALIGNED_FIELDS 0
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_CRC_EXTRA
|
||||
#define MAVLINK_CRC_EXTRA 0
|
||||
#endif
|
||||
|
||||
#include "version.h"
|
||||
#include "ardupilotmega.h"
|
||||
|
||||
#endif // MAVLINK_H
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE AP_ADC PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_AP_ADC 153
|
||||
|
||||
typedef struct __mavlink_ap_adc_t
|
||||
{
|
||||
uint16_t adc1; ///< ADC output 1
|
||||
uint16_t adc2; ///< ADC output 2
|
||||
uint16_t adc3; ///< ADC output 3
|
||||
uint16_t adc4; ///< ADC output 4
|
||||
uint16_t adc5; ///< ADC output 5
|
||||
uint16_t adc6; ///< ADC output 6
|
||||
} mavlink_ap_adc_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_AP_ADC_LEN 12
|
||||
#define MAVLINK_MSG_ID_153_LEN 12
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_AP_ADC { \
|
||||
"AP_ADC", \
|
||||
6, \
|
||||
{ { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
|
||||
{ "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
|
||||
{ "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
|
||||
{ "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
|
||||
{ "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
|
||||
{ "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a ap_adc message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param adc1 ADC output 1
|
||||
* @param adc2 ADC output 2
|
||||
* @param adc3 ADC output 3
|
||||
* @param adc4 ADC output 4
|
||||
* @param adc5 ADC output 5
|
||||
* @param adc6 ADC output 6
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_uint16_t(buf, 0, adc1);
|
||||
_mav_put_uint16_t(buf, 2, adc2);
|
||||
_mav_put_uint16_t(buf, 4, adc3);
|
||||
_mav_put_uint16_t(buf, 6, adc4);
|
||||
_mav_put_uint16_t(buf, 8, adc5);
|
||||
_mav_put_uint16_t(buf, 10, adc6);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 12);
|
||||
#else
|
||||
mavlink_ap_adc_t packet;
|
||||
packet.adc1 = adc1;
|
||||
packet.adc2 = adc2;
|
||||
packet.adc3 = adc3;
|
||||
packet.adc4 = adc4;
|
||||
packet.adc5 = adc5;
|
||||
packet.adc6 = adc6;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a ap_adc message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param adc1 ADC output 1
|
||||
* @param adc2 ADC output 2
|
||||
* @param adc3 ADC output 3
|
||||
* @param adc4 ADC output 4
|
||||
* @param adc5 ADC output 5
|
||||
* @param adc6 ADC output 6
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_uint16_t(buf, 0, adc1);
|
||||
_mav_put_uint16_t(buf, 2, adc2);
|
||||
_mav_put_uint16_t(buf, 4, adc3);
|
||||
_mav_put_uint16_t(buf, 6, adc4);
|
||||
_mav_put_uint16_t(buf, 8, adc5);
|
||||
_mav_put_uint16_t(buf, 10, adc6);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 12);
|
||||
#else
|
||||
mavlink_ap_adc_t packet;
|
||||
packet.adc1 = adc1;
|
||||
packet.adc2 = adc2;
|
||||
packet.adc3 = adc3;
|
||||
packet.adc4 = adc4;
|
||||
packet.adc5 = adc5;
|
||||
packet.adc6 = adc6;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a ap_adc struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param ap_adc C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
|
||||
{
|
||||
return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a ap_adc message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param adc1 ADC output 1
|
||||
* @param adc2 ADC output 2
|
||||
* @param adc3 ADC output 3
|
||||
* @param adc4 ADC output 4
|
||||
* @param adc5 ADC output 5
|
||||
* @param adc6 ADC output 6
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_uint16_t(buf, 0, adc1);
|
||||
_mav_put_uint16_t(buf, 2, adc2);
|
||||
_mav_put_uint16_t(buf, 4, adc3);
|
||||
_mav_put_uint16_t(buf, 6, adc4);
|
||||
_mav_put_uint16_t(buf, 8, adc5);
|
||||
_mav_put_uint16_t(buf, 10, adc6);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12);
|
||||
#else
|
||||
mavlink_ap_adc_t packet;
|
||||
packet.adc1 = adc1;
|
||||
packet.adc2 = adc2;
|
||||
packet.adc3 = adc3;
|
||||
packet.adc4 = adc4;
|
||||
packet.adc5 = adc5;
|
||||
packet.adc6 = adc6;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE AP_ADC UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field adc1 from ap_adc message
|
||||
*
|
||||
* @return ADC output 1
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field adc2 from ap_adc message
|
||||
*
|
||||
* @return ADC output 2
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field adc3 from ap_adc message
|
||||
*
|
||||
* @return ADC output 3
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field adc4 from ap_adc message
|
||||
*
|
||||
* @return ADC output 4
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field adc5 from ap_adc message
|
||||
*
|
||||
* @return ADC output 5
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field adc6 from ap_adc message
|
||||
*
|
||||
* @return ADC output 6
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a ap_adc message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param ap_adc C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
|
||||
ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
|
||||
ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
|
||||
ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
|
||||
ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
|
||||
ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
|
||||
#else
|
||||
memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,364 @@
|
||||
// MESSAGE DIGICAM_CONFIGURE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE 154
|
||||
|
||||
typedef struct __mavlink_digicam_configure_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint8_t mode; ///< Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
|
||||
uint16_t shutter_speed; ///< Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
|
||||
uint8_t aperture; ///< F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
|
||||
uint8_t iso; ///< ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
|
||||
uint8_t exposure_type; ///< Exposure type enumeration from 1 to N (0 means ignore)
|
||||
uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
uint8_t engine_cut_off; ///< Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
|
||||
uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
|
||||
float extra_value; ///< Correspondent value to given extra_param
|
||||
} mavlink_digicam_configure_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN 15
|
||||
#define MAVLINK_MSG_ID_154_LEN 15
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE { \
|
||||
"DIGICAM_CONFIGURE", \
|
||||
11, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_digicam_configure_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_digicam_configure_t, target_component) }, \
|
||||
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_digicam_configure_t, mode) }, \
|
||||
{ "shutter_speed", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_digicam_configure_t, shutter_speed) }, \
|
||||
{ "aperture", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_configure_t, aperture) }, \
|
||||
{ "iso", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_configure_t, iso) }, \
|
||||
{ "exposure_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_configure_t, exposure_type) }, \
|
||||
{ "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_configure_t, command_id) }, \
|
||||
{ "engine_cut_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_configure_t, engine_cut_off) }, \
|
||||
{ "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_configure_t, extra_param) }, \
|
||||
{ "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 11, offsetof(mavlink_digicam_configure_t, extra_value) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a digicam_configure message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
|
||||
* @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
|
||||
* @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
|
||||
* @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
|
||||
* @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
|
||||
* @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
* @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
|
||||
* @param extra_param Extra parameters enumeration (0 means ignore)
|
||||
* @param extra_value Correspondent value to given extra_param
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[15];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, mode);
|
||||
_mav_put_uint16_t(buf, 3, shutter_speed);
|
||||
_mav_put_uint8_t(buf, 5, aperture);
|
||||
_mav_put_uint8_t(buf, 6, iso);
|
||||
_mav_put_uint8_t(buf, 7, exposure_type);
|
||||
_mav_put_uint8_t(buf, 8, command_id);
|
||||
_mav_put_uint8_t(buf, 9, engine_cut_off);
|
||||
_mav_put_uint8_t(buf, 10, extra_param);
|
||||
_mav_put_float(buf, 11, extra_value);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 15);
|
||||
#else
|
||||
mavlink_digicam_configure_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mode = mode;
|
||||
packet.shutter_speed = shutter_speed;
|
||||
packet.aperture = aperture;
|
||||
packet.iso = iso;
|
||||
packet.exposure_type = exposure_type;
|
||||
packet.command_id = command_id;
|
||||
packet.engine_cut_off = engine_cut_off;
|
||||
packet.extra_param = extra_param;
|
||||
packet.extra_value = extra_value;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 15);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a digicam_configure message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
|
||||
* @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
|
||||
* @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
|
||||
* @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
|
||||
* @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
|
||||
* @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
* @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
|
||||
* @param extra_param Extra parameters enumeration (0 means ignore)
|
||||
* @param extra_value Correspondent value to given extra_param
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t mode,uint16_t shutter_speed,uint8_t aperture,uint8_t iso,uint8_t exposure_type,uint8_t command_id,uint8_t engine_cut_off,uint8_t extra_param,float extra_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[15];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, mode);
|
||||
_mav_put_uint16_t(buf, 3, shutter_speed);
|
||||
_mav_put_uint8_t(buf, 5, aperture);
|
||||
_mav_put_uint8_t(buf, 6, iso);
|
||||
_mav_put_uint8_t(buf, 7, exposure_type);
|
||||
_mav_put_uint8_t(buf, 8, command_id);
|
||||
_mav_put_uint8_t(buf, 9, engine_cut_off);
|
||||
_mav_put_uint8_t(buf, 10, extra_param);
|
||||
_mav_put_float(buf, 11, extra_value);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 15);
|
||||
#else
|
||||
mavlink_digicam_configure_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mode = mode;
|
||||
packet.shutter_speed = shutter_speed;
|
||||
packet.aperture = aperture;
|
||||
packet.iso = iso;
|
||||
packet.exposure_type = exposure_type;
|
||||
packet.command_id = command_id;
|
||||
packet.engine_cut_off = engine_cut_off;
|
||||
packet.extra_param = extra_param;
|
||||
packet.extra_value = extra_value;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a digicam_configure struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param digicam_configure C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
|
||||
{
|
||||
return mavlink_msg_digicam_configure_pack(system_id, component_id, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a digicam_configure message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
|
||||
* @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
|
||||
* @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
|
||||
* @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
|
||||
* @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
|
||||
* @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
* @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
|
||||
* @param extra_param Extra parameters enumeration (0 means ignore)
|
||||
* @param extra_value Correspondent value to given extra_param
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[15];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, mode);
|
||||
_mav_put_uint16_t(buf, 3, shutter_speed);
|
||||
_mav_put_uint8_t(buf, 5, aperture);
|
||||
_mav_put_uint8_t(buf, 6, iso);
|
||||
_mav_put_uint8_t(buf, 7, exposure_type);
|
||||
_mav_put_uint8_t(buf, 8, command_id);
|
||||
_mav_put_uint8_t(buf, 9, engine_cut_off);
|
||||
_mav_put_uint8_t(buf, 10, extra_param);
|
||||
_mav_put_float(buf, 11, extra_value);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, 15);
|
||||
#else
|
||||
mavlink_digicam_configure_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mode = mode;
|
||||
packet.shutter_speed = shutter_speed;
|
||||
packet.aperture = aperture;
|
||||
packet.iso = iso;
|
||||
packet.exposure_type = exposure_type;
|
||||
packet.command_id = command_id;
|
||||
packet.engine_cut_off = engine_cut_off;
|
||||
packet.extra_param = extra_param;
|
||||
packet.extra_value = extra_value;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, 15);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE DIGICAM_CONFIGURE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from digicam_configure message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from digicam_configure message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mode from digicam_configure message
|
||||
*
|
||||
* @return Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_mode(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field shutter_speed from digicam_configure message
|
||||
*
|
||||
* @return Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_configure_get_shutter_speed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field aperture from digicam_configure message
|
||||
*
|
||||
* @return F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_aperture(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field iso from digicam_configure message
|
||||
*
|
||||
* @return ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_iso(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field exposure_type from digicam_configure message
|
||||
*
|
||||
* @return Exposure type enumeration from 1 to N (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_exposure_type(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 7);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field command_id from digicam_configure message
|
||||
*
|
||||
* @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_command_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field engine_cut_off from digicam_configure message
|
||||
*
|
||||
* @return Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_engine_cut_off(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field extra_param from digicam_configure message
|
||||
*
|
||||
* @return Extra parameters enumeration (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_configure_get_extra_param(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field extra_value from digicam_configure message
|
||||
*
|
||||
* @return Correspondent value to given extra_param
|
||||
*/
|
||||
static inline float mavlink_msg_digicam_configure_get_extra_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 11);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a digicam_configure message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param digicam_configure C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_digicam_configure_decode(const mavlink_message_t* msg, mavlink_digicam_configure_t* digicam_configure)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
digicam_configure->target_system = mavlink_msg_digicam_configure_get_target_system(msg);
|
||||
digicam_configure->target_component = mavlink_msg_digicam_configure_get_target_component(msg);
|
||||
digicam_configure->mode = mavlink_msg_digicam_configure_get_mode(msg);
|
||||
digicam_configure->shutter_speed = mavlink_msg_digicam_configure_get_shutter_speed(msg);
|
||||
digicam_configure->aperture = mavlink_msg_digicam_configure_get_aperture(msg);
|
||||
digicam_configure->iso = mavlink_msg_digicam_configure_get_iso(msg);
|
||||
digicam_configure->exposure_type = mavlink_msg_digicam_configure_get_exposure_type(msg);
|
||||
digicam_configure->command_id = mavlink_msg_digicam_configure_get_command_id(msg);
|
||||
digicam_configure->engine_cut_off = mavlink_msg_digicam_configure_get_engine_cut_off(msg);
|
||||
digicam_configure->extra_param = mavlink_msg_digicam_configure_get_extra_param(msg);
|
||||
digicam_configure->extra_value = mavlink_msg_digicam_configure_get_extra_value(msg);
|
||||
#else
|
||||
memcpy(digicam_configure, _MAV_PAYLOAD(msg), 15);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,342 @@
|
||||
// MESSAGE DIGICAM_CONTROL PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_DIGICAM_CONTROL 155
|
||||
|
||||
typedef struct __mavlink_digicam_control_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint8_t session; ///< 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
|
||||
uint8_t zoom_pos; ///< 1 to N //Zoom's absolute position (0 means ignore)
|
||||
int8_t zoom_step; ///< -100 to 100 //Zooming step value to offset zoom from the current position
|
||||
uint8_t focus_lock; ///< 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
|
||||
uint8_t shot; ///< 0: ignore, 1: shot or start filming
|
||||
uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
|
||||
float extra_value; ///< Correspondent value to given extra_param
|
||||
} mavlink_digicam_control_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN 13
|
||||
#define MAVLINK_MSG_ID_155_LEN 13
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL { \
|
||||
"DIGICAM_CONTROL", \
|
||||
10, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_digicam_control_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_digicam_control_t, target_component) }, \
|
||||
{ "session", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_digicam_control_t, session) }, \
|
||||
{ "zoom_pos", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_digicam_control_t, zoom_pos) }, \
|
||||
{ "zoom_step", NULL, MAVLINK_TYPE_INT8_T, 0, 4, offsetof(mavlink_digicam_control_t, zoom_step) }, \
|
||||
{ "focus_lock", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_control_t, focus_lock) }, \
|
||||
{ "shot", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_control_t, shot) }, \
|
||||
{ "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_control_t, command_id) }, \
|
||||
{ "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_control_t, extra_param) }, \
|
||||
{ "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_digicam_control_t, extra_value) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a digicam_control message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
|
||||
* @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
|
||||
* @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
|
||||
* @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
|
||||
* @param shot 0: ignore, 1: shot or start filming
|
||||
* @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
* @param extra_param Extra parameters enumeration (0 means ignore)
|
||||
* @param extra_value Correspondent value to given extra_param
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[13];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, session);
|
||||
_mav_put_uint8_t(buf, 3, zoom_pos);
|
||||
_mav_put_int8_t(buf, 4, zoom_step);
|
||||
_mav_put_uint8_t(buf, 5, focus_lock);
|
||||
_mav_put_uint8_t(buf, 6, shot);
|
||||
_mav_put_uint8_t(buf, 7, command_id);
|
||||
_mav_put_uint8_t(buf, 8, extra_param);
|
||||
_mav_put_float(buf, 9, extra_value);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 13);
|
||||
#else
|
||||
mavlink_digicam_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.session = session;
|
||||
packet.zoom_pos = zoom_pos;
|
||||
packet.zoom_step = zoom_step;
|
||||
packet.focus_lock = focus_lock;
|
||||
packet.shot = shot;
|
||||
packet.command_id = command_id;
|
||||
packet.extra_param = extra_param;
|
||||
packet.extra_value = extra_value;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 13);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a digicam_control message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
|
||||
* @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
|
||||
* @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
|
||||
* @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
|
||||
* @param shot 0: ignore, 1: shot or start filming
|
||||
* @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
* @param extra_param Extra parameters enumeration (0 means ignore)
|
||||
* @param extra_value Correspondent value to given extra_param
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t session,uint8_t zoom_pos,int8_t zoom_step,uint8_t focus_lock,uint8_t shot,uint8_t command_id,uint8_t extra_param,float extra_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[13];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, session);
|
||||
_mav_put_uint8_t(buf, 3, zoom_pos);
|
||||
_mav_put_int8_t(buf, 4, zoom_step);
|
||||
_mav_put_uint8_t(buf, 5, focus_lock);
|
||||
_mav_put_uint8_t(buf, 6, shot);
|
||||
_mav_put_uint8_t(buf, 7, command_id);
|
||||
_mav_put_uint8_t(buf, 8, extra_param);
|
||||
_mav_put_float(buf, 9, extra_value);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 13);
|
||||
#else
|
||||
mavlink_digicam_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.session = session;
|
||||
packet.zoom_pos = zoom_pos;
|
||||
packet.zoom_step = zoom_step;
|
||||
packet.focus_lock = focus_lock;
|
||||
packet.shot = shot;
|
||||
packet.command_id = command_id;
|
||||
packet.extra_param = extra_param;
|
||||
packet.extra_value = extra_value;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 13);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a digicam_control struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param digicam_control C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_digicam_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
|
||||
{
|
||||
return mavlink_msg_digicam_control_pack(system_id, component_id, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a digicam_control message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
|
||||
* @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
|
||||
* @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
|
||||
* @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
|
||||
* @param shot 0: ignore, 1: shot or start filming
|
||||
* @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
* @param extra_param Extra parameters enumeration (0 means ignore)
|
||||
* @param extra_value Correspondent value to given extra_param
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[13];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, session);
|
||||
_mav_put_uint8_t(buf, 3, zoom_pos);
|
||||
_mav_put_int8_t(buf, 4, zoom_step);
|
||||
_mav_put_uint8_t(buf, 5, focus_lock);
|
||||
_mav_put_uint8_t(buf, 6, shot);
|
||||
_mav_put_uint8_t(buf, 7, command_id);
|
||||
_mav_put_uint8_t(buf, 8, extra_param);
|
||||
_mav_put_float(buf, 9, extra_value);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, 13);
|
||||
#else
|
||||
mavlink_digicam_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.session = session;
|
||||
packet.zoom_pos = zoom_pos;
|
||||
packet.zoom_step = zoom_step;
|
||||
packet.focus_lock = focus_lock;
|
||||
packet.shot = shot;
|
||||
packet.command_id = command_id;
|
||||
packet.extra_param = extra_param;
|
||||
packet.extra_value = extra_value;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, 13);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE DIGICAM_CONTROL UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from digicam_control message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from digicam_control message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field session from digicam_control message
|
||||
*
|
||||
* @return 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_session(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zoom_pos from digicam_control message
|
||||
*
|
||||
* @return 1 to N //Zoom's absolute position (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_zoom_pos(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zoom_step from digicam_control message
|
||||
*
|
||||
* @return -100 to 100 //Zooming step value to offset zoom from the current position
|
||||
*/
|
||||
static inline int8_t mavlink_msg_digicam_control_get_zoom_step(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int8_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field focus_lock from digicam_control message
|
||||
*
|
||||
* @return 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_focus_lock(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field shot from digicam_control message
|
||||
*
|
||||
* @return 0: ignore, 1: shot or start filming
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_shot(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field command_id from digicam_control message
|
||||
*
|
||||
* @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_command_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 7);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field extra_param from digicam_control message
|
||||
*
|
||||
* @return Extra parameters enumeration (0 means ignore)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_digicam_control_get_extra_param(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field extra_value from digicam_control message
|
||||
*
|
||||
* @return Correspondent value to given extra_param
|
||||
*/
|
||||
static inline float mavlink_msg_digicam_control_get_extra_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a digicam_control message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param digicam_control C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_digicam_control_decode(const mavlink_message_t* msg, mavlink_digicam_control_t* digicam_control)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
digicam_control->target_system = mavlink_msg_digicam_control_get_target_system(msg);
|
||||
digicam_control->target_component = mavlink_msg_digicam_control_get_target_component(msg);
|
||||
digicam_control->session = mavlink_msg_digicam_control_get_session(msg);
|
||||
digicam_control->zoom_pos = mavlink_msg_digicam_control_get_zoom_pos(msg);
|
||||
digicam_control->zoom_step = mavlink_msg_digicam_control_get_zoom_step(msg);
|
||||
digicam_control->focus_lock = mavlink_msg_digicam_control_get_focus_lock(msg);
|
||||
digicam_control->shot = mavlink_msg_digicam_control_get_shot(msg);
|
||||
digicam_control->command_id = mavlink_msg_digicam_control_get_command_id(msg);
|
||||
digicam_control->extra_param = mavlink_msg_digicam_control_get_extra_param(msg);
|
||||
digicam_control->extra_value = mavlink_msg_digicam_control_get_extra_value(msg);
|
||||
#else
|
||||
memcpy(digicam_control, _MAV_PAYLOAD(msg), 13);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,188 @@
|
||||
// MESSAGE FENCE_FETCH_POINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCE_FETCH_POINT 161
|
||||
|
||||
typedef struct __mavlink_fence_fetch_point_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
|
||||
} mavlink_fence_fetch_point_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN 3
|
||||
#define MAVLINK_MSG_ID_161_LEN 3
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT { \
|
||||
"FENCE_FETCH_POINT", \
|
||||
3, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_fetch_point_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_fetch_point_t, target_component) }, \
|
||||
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_fetch_point_t, idx) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a fence_fetch_point message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t idx)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, idx);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_fence_fetch_point_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.idx = idx;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a fence_fetch_point message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t idx)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, idx);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_fence_fetch_point_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.idx = idx;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a fence_fetch_point struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param fence_fetch_point C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
|
||||
{
|
||||
return mavlink_msg_fence_fetch_point_pack(system_id, component_id, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a fence_fetch_point message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, idx);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, 3);
|
||||
#else
|
||||
mavlink_fence_fetch_point_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.idx = idx;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, 3);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE FENCE_FETCH_POINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from fence_fetch_point message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_fetch_point_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from fence_fetch_point message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_fetch_point_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field idx from fence_fetch_point message
|
||||
*
|
||||
* @return point index (first point is 1, 0 is for return point)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_fetch_point_get_idx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a fence_fetch_point message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param fence_fetch_point C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_fence_fetch_point_decode(const mavlink_message_t* msg, mavlink_fence_fetch_point_t* fence_fetch_point)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
fence_fetch_point->target_system = mavlink_msg_fence_fetch_point_get_target_system(msg);
|
||||
fence_fetch_point->target_component = mavlink_msg_fence_fetch_point_get_target_component(msg);
|
||||
fence_fetch_point->idx = mavlink_msg_fence_fetch_point_get_idx(msg);
|
||||
#else
|
||||
memcpy(fence_fetch_point, _MAV_PAYLOAD(msg), 3);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE FENCE_POINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCE_POINT 160
|
||||
|
||||
typedef struct __mavlink_fence_point_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
|
||||
uint8_t count; ///< total number of points (for sanity checking)
|
||||
float lat; ///< Latitude of point
|
||||
float lng; ///< Longitude of point
|
||||
} mavlink_fence_point_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12
|
||||
#define MAVLINK_MSG_ID_160_LEN 12
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \
|
||||
"FENCE_POINT", \
|
||||
6, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_point_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_point_t, target_component) }, \
|
||||
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_point_t, idx) }, \
|
||||
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_point_t, count) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lat) }, \
|
||||
{ "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fence_point_t, lng) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a fence_point message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @param count total number of points (for sanity checking)
|
||||
* @param lat Latitude of point
|
||||
* @param lng Longitude of point
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, idx);
|
||||
_mav_put_uint8_t(buf, 3, count);
|
||||
_mav_put_float(buf, 4, lat);
|
||||
_mav_put_float(buf, 8, lng);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 12);
|
||||
#else
|
||||
mavlink_fence_point_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.idx = idx;
|
||||
packet.count = count;
|
||||
packet.lat = lat;
|
||||
packet.lng = lng;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a fence_point message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @param count total number of points (for sanity checking)
|
||||
* @param lat Latitude of point
|
||||
* @param lng Longitude of point
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,float lat,float lng)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, idx);
|
||||
_mav_put_uint8_t(buf, 3, count);
|
||||
_mav_put_float(buf, 4, lat);
|
||||
_mav_put_float(buf, 8, lng);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 12);
|
||||
#else
|
||||
mavlink_fence_point_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.idx = idx;
|
||||
packet.count = count;
|
||||
packet.lat = lat;
|
||||
packet.lng = lng;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a fence_point struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param fence_point C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
|
||||
{
|
||||
return mavlink_msg_fence_point_pack(system_id, component_id, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a fence_point message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @param count total number of points (for sanity checking)
|
||||
* @param lat Latitude of point
|
||||
* @param lng Longitude of point
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, idx);
|
||||
_mav_put_uint8_t(buf, 3, count);
|
||||
_mav_put_float(buf, 4, lat);
|
||||
_mav_put_float(buf, 8, lng);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, 12);
|
||||
#else
|
||||
mavlink_fence_point_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.idx = idx;
|
||||
packet.count = count;
|
||||
packet.lat = lat;
|
||||
packet.lng = lng;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, 12);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE FENCE_POINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from fence_point message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_point_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from fence_point message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_point_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field idx from fence_point message
|
||||
*
|
||||
* @return point index (first point is 1, 0 is for return point)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_point_get_idx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field count from fence_point message
|
||||
*
|
||||
* @return total number of points (for sanity checking)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_point_get_count(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from fence_point message
|
||||
*
|
||||
* @return Latitude of point
|
||||
*/
|
||||
static inline float mavlink_msg_fence_point_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lng from fence_point message
|
||||
*
|
||||
* @return Longitude of point
|
||||
*/
|
||||
static inline float mavlink_msg_fence_point_get_lng(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a fence_point message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param fence_point C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_fence_point_decode(const mavlink_message_t* msg, mavlink_fence_point_t* fence_point)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
fence_point->target_system = mavlink_msg_fence_point_get_target_system(msg);
|
||||
fence_point->target_component = mavlink_msg_fence_point_get_target_component(msg);
|
||||
fence_point->idx = mavlink_msg_fence_point_get_idx(msg);
|
||||
fence_point->count = mavlink_msg_fence_point_get_count(msg);
|
||||
fence_point->lat = mavlink_msg_fence_point_get_lat(msg);
|
||||
fence_point->lng = mavlink_msg_fence_point_get_lng(msg);
|
||||
#else
|
||||
memcpy(fence_point, _MAV_PAYLOAD(msg), 12);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
// MESSAGE FENCE_STATUS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCE_STATUS 162
|
||||
|
||||
typedef struct __mavlink_fence_status_t
|
||||
{
|
||||
uint8_t breach_status; ///< 0 if currently inside fence, 1 if outside
|
||||
uint16_t breach_count; ///< number of fence breaches
|
||||
uint8_t breach_type; ///< last breach type (see FENCE_BREACH_* enum)
|
||||
uint32_t breach_time; ///< time of last breach in milliseconds since boot
|
||||
} mavlink_fence_status_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8
|
||||
#define MAVLINK_MSG_ID_162_LEN 8
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
|
||||
"FENCE_STATUS", \
|
||||
4, \
|
||||
{ { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_status_t, breach_status) }, \
|
||||
{ "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 1, offsetof(mavlink_fence_status_t, breach_count) }, \
|
||||
{ "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_fence_status_t, breach_type) }, \
|
||||
{ "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_fence_status_t, breach_time) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a fence_status message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param breach_status 0 if currently inside fence, 1 if outside
|
||||
* @param breach_count number of fence breaches
|
||||
* @param breach_type last breach type (see FENCE_BREACH_* enum)
|
||||
* @param breach_time time of last breach in milliseconds since boot
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, breach_status);
|
||||
_mav_put_uint16_t(buf, 1, breach_count);
|
||||
_mav_put_uint8_t(buf, 3, breach_type);
|
||||
_mav_put_uint32_t(buf, 4, breach_time);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_fence_status_t packet;
|
||||
packet.breach_status = breach_status;
|
||||
packet.breach_count = breach_count;
|
||||
packet.breach_type = breach_type;
|
||||
packet.breach_time = breach_time;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a fence_status message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param breach_status 0 if currently inside fence, 1 if outside
|
||||
* @param breach_count number of fence breaches
|
||||
* @param breach_type last breach type (see FENCE_BREACH_* enum)
|
||||
* @param breach_time time of last breach in milliseconds since boot
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t breach_status,uint16_t breach_count,uint8_t breach_type,uint32_t breach_time)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, breach_status);
|
||||
_mav_put_uint16_t(buf, 1, breach_count);
|
||||
_mav_put_uint8_t(buf, 3, breach_type);
|
||||
_mav_put_uint32_t(buf, 4, breach_time);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_fence_status_t packet;
|
||||
packet.breach_status = breach_status;
|
||||
packet.breach_count = breach_count;
|
||||
packet.breach_type = breach_type;
|
||||
packet.breach_time = breach_time;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a fence_status struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param fence_status C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
|
||||
{
|
||||
return mavlink_msg_fence_status_pack(system_id, component_id, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a fence_status message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param breach_status 0 if currently inside fence, 1 if outside
|
||||
* @param breach_count number of fence breaches
|
||||
* @param breach_type last breach type (see FENCE_BREACH_* enum)
|
||||
* @param breach_time time of last breach in milliseconds since boot
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, breach_status);
|
||||
_mav_put_uint16_t(buf, 1, breach_count);
|
||||
_mav_put_uint8_t(buf, 3, breach_type);
|
||||
_mav_put_uint32_t(buf, 4, breach_time);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, 8);
|
||||
#else
|
||||
mavlink_fence_status_t packet;
|
||||
packet.breach_status = breach_status;
|
||||
packet.breach_count = breach_count;
|
||||
packet.breach_type = breach_type;
|
||||
packet.breach_time = breach_time;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, 8);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE FENCE_STATUS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field breach_status from fence_status message
|
||||
*
|
||||
* @return 0 if currently inside fence, 1 if outside
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_status_get_breach_status(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field breach_count from fence_status message
|
||||
*
|
||||
* @return number of fence breaches
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fence_status_get_breach_count(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field breach_type from fence_status message
|
||||
*
|
||||
* @return last breach type (see FENCE_BREACH_* enum)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fence_status_get_breach_type(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field breach_time from fence_status message
|
||||
*
|
||||
* @return time of last breach in milliseconds since boot
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_fence_status_get_breach_time(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a fence_status message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param fence_status C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_fence_status_decode(const mavlink_message_t* msg, mavlink_fence_status_t* fence_status)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg);
|
||||
fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg);
|
||||
fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg);
|
||||
fence_status->breach_time = mavlink_msg_fence_status_get_breach_time(msg);
|
||||
#else
|
||||
memcpy(fence_status, _MAV_PAYLOAD(msg), 8);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
// MESSAGE FENCED_FETCH_POINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCED_FETCH_POINT 161
|
||||
|
||||
typedef struct __mavlink_fenced_fetch_point_t
|
||||
{
|
||||
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
|
||||
} mavlink_fenced_fetch_point_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCED_FETCH_POINT_LEN 1
|
||||
#define MAVLINK_MSG_ID_161_LEN 1
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_FENCED_FETCH_POINT { \
|
||||
"FENCED_FETCH_POINT", \
|
||||
1, \
|
||||
{ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fenced_fetch_point_t, idx) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a fenced_fetch_point message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fenced_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t idx)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[1];
|
||||
_mav_put_uint8_t(buf, 0, idx);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 1);
|
||||
#else
|
||||
mavlink_fenced_fetch_point_t packet;
|
||||
packet.idx = idx;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 1);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCED_FETCH_POINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a fenced_fetch_point message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fenced_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t idx)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[1];
|
||||
_mav_put_uint8_t(buf, 0, idx);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 1);
|
||||
#else
|
||||
mavlink_fenced_fetch_point_t packet;
|
||||
packet.idx = idx;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 1);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCED_FETCH_POINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a fenced_fetch_point struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param fenced_fetch_point C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fenced_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fenced_fetch_point_t* fenced_fetch_point)
|
||||
{
|
||||
return mavlink_msg_fenced_fetch_point_pack(system_id, component_id, msg, fenced_fetch_point->idx);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a fenced_fetch_point message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_fenced_fetch_point_send(mavlink_channel_t chan, uint8_t idx)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[1];
|
||||
_mav_put_uint8_t(buf, 0, idx);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_FETCH_POINT, buf, 1);
|
||||
#else
|
||||
mavlink_fenced_fetch_point_t packet;
|
||||
packet.idx = idx;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_FETCH_POINT, (const char *)&packet, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE FENCED_FETCH_POINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field idx from fenced_fetch_point message
|
||||
*
|
||||
* @return point index (first point is 1, 0 is for return point)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fenced_fetch_point_get_idx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a fenced_fetch_point message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param fenced_fetch_point C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_fenced_fetch_point_decode(const mavlink_message_t* msg, mavlink_fenced_fetch_point_t* fenced_fetch_point)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
fenced_fetch_point->idx = mavlink_msg_fenced_fetch_point_get_idx(msg);
|
||||
#else
|
||||
memcpy(fenced_fetch_point, _MAV_PAYLOAD(msg), 1);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
// MESSAGE FENCED_POINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCED_POINT 160
|
||||
|
||||
typedef struct __mavlink_fenced_point_t
|
||||
{
|
||||
uint8_t idx; ///< point index (first point is 1, 0 is for return point)
|
||||
uint8_t count; ///< total number of points (for sanity checking)
|
||||
float lat; ///< Latitude of point
|
||||
float lng; ///< Longitude of point
|
||||
} mavlink_fenced_point_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_FENCED_POINT_LEN 10
|
||||
#define MAVLINK_MSG_ID_160_LEN 10
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_FENCED_POINT { \
|
||||
"FENCED_POINT", \
|
||||
4, \
|
||||
{ { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fenced_point_t, idx) }, \
|
||||
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fenced_point_t, count) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_fenced_point_t, lat) }, \
|
||||
{ "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_fenced_point_t, lng) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a fenced_point message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @param count total number of points (for sanity checking)
|
||||
* @param lat Latitude of point
|
||||
* @param lng Longitude of point
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fenced_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t idx, uint8_t count, float lat, float lng)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[10];
|
||||
_mav_put_uint8_t(buf, 0, idx);
|
||||
_mav_put_uint8_t(buf, 1, count);
|
||||
_mav_put_float(buf, 2, lat);
|
||||
_mav_put_float(buf, 6, lng);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 10);
|
||||
#else
|
||||
mavlink_fenced_point_t packet;
|
||||
packet.idx = idx;
|
||||
packet.count = count;
|
||||
packet.lat = lat;
|
||||
packet.lng = lng;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 10);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCED_POINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a fenced_point message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @param count total number of points (for sanity checking)
|
||||
* @param lat Latitude of point
|
||||
* @param lng Longitude of point
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fenced_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t idx,uint8_t count,float lat,float lng)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[10];
|
||||
_mav_put_uint8_t(buf, 0, idx);
|
||||
_mav_put_uint8_t(buf, 1, count);
|
||||
_mav_put_float(buf, 2, lat);
|
||||
_mav_put_float(buf, 6, lng);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 10);
|
||||
#else
|
||||
mavlink_fenced_point_t packet;
|
||||
packet.idx = idx;
|
||||
packet.count = count;
|
||||
packet.lat = lat;
|
||||
packet.lng = lng;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 10);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_FENCED_POINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a fenced_point struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param fenced_point C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_fenced_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fenced_point_t* fenced_point)
|
||||
{
|
||||
return mavlink_msg_fenced_point_pack(system_id, component_id, msg, fenced_point->idx, fenced_point->count, fenced_point->lat, fenced_point->lng);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a fenced_point message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param idx point index (first point is 1, 0 is for return point)
|
||||
* @param count total number of points (for sanity checking)
|
||||
* @param lat Latitude of point
|
||||
* @param lng Longitude of point
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_fenced_point_send(mavlink_channel_t chan, uint8_t idx, uint8_t count, float lat, float lng)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[10];
|
||||
_mav_put_uint8_t(buf, 0, idx);
|
||||
_mav_put_uint8_t(buf, 1, count);
|
||||
_mav_put_float(buf, 2, lat);
|
||||
_mav_put_float(buf, 6, lng);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_POINT, buf, 10);
|
||||
#else
|
||||
mavlink_fenced_point_t packet;
|
||||
packet.idx = idx;
|
||||
packet.count = count;
|
||||
packet.lat = lat;
|
||||
packet.lng = lng;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCED_POINT, (const char *)&packet, 10);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE FENCED_POINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field idx from fenced_point message
|
||||
*
|
||||
* @return point index (first point is 1, 0 is for return point)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fenced_point_get_idx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field count from fenced_point message
|
||||
*
|
||||
* @return total number of points (for sanity checking)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_fenced_point_get_count(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from fenced_point message
|
||||
*
|
||||
* @return Latitude of point
|
||||
*/
|
||||
static inline float mavlink_msg_fenced_point_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lng from fenced_point message
|
||||
*
|
||||
* @return Longitude of point
|
||||
*/
|
||||
static inline float mavlink_msg_fenced_point_get_lng(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a fenced_point message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param fenced_point C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_fenced_point_decode(const mavlink_message_t* msg, mavlink_fenced_point_t* fenced_point)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
fenced_point->idx = mavlink_msg_fenced_point_get_idx(msg);
|
||||
fenced_point->count = mavlink_msg_fenced_point_get_count(msg);
|
||||
fenced_point->lat = mavlink_msg_fenced_point_get_lat(msg);
|
||||
fenced_point->lng = mavlink_msg_fenced_point_get_lng(msg);
|
||||
#else
|
||||
memcpy(fenced_point, _MAV_PAYLOAD(msg), 10);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE MEMINFO PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_MEMINFO 152
|
||||
|
||||
typedef struct __mavlink_meminfo_t
|
||||
{
|
||||
uint16_t brkval; ///< heap top
|
||||
uint16_t freemem; ///< free memory
|
||||
} mavlink_meminfo_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_MEMINFO_LEN 4
|
||||
#define MAVLINK_MSG_ID_152_LEN 4
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_MEMINFO { \
|
||||
"MEMINFO", \
|
||||
2, \
|
||||
{ { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
|
||||
{ "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a meminfo message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param brkval heap top
|
||||
* @param freemem free memory
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint16_t brkval, uint16_t freemem)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[4];
|
||||
_mav_put_uint16_t(buf, 0, brkval);
|
||||
_mav_put_uint16_t(buf, 2, freemem);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 4);
|
||||
#else
|
||||
mavlink_meminfo_t packet;
|
||||
packet.brkval = brkval;
|
||||
packet.freemem = freemem;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MEMINFO;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a meminfo message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param brkval heap top
|
||||
* @param freemem free memory
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint16_t brkval,uint16_t freemem)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[4];
|
||||
_mav_put_uint16_t(buf, 0, brkval);
|
||||
_mav_put_uint16_t(buf, 2, freemem);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 4);
|
||||
#else
|
||||
mavlink_meminfo_t packet;
|
||||
packet.brkval = brkval;
|
||||
packet.freemem = freemem;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MEMINFO;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a meminfo struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param meminfo C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
|
||||
{
|
||||
return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a meminfo message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param brkval heap top
|
||||
* @param freemem free memory
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[4];
|
||||
_mav_put_uint16_t(buf, 0, brkval);
|
||||
_mav_put_uint16_t(buf, 2, freemem);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, 4);
|
||||
#else
|
||||
mavlink_meminfo_t packet;
|
||||
packet.brkval = brkval;
|
||||
packet.freemem = freemem;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, 4);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE MEMINFO UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field brkval from meminfo message
|
||||
*
|
||||
* @return heap top
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field freemem from meminfo message
|
||||
*
|
||||
* @return free memory
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a meminfo message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param meminfo C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg);
|
||||
meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg);
|
||||
#else
|
||||
memcpy(meminfo, _MAV_PAYLOAD(msg), 4);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE MOUNT_CONFIGURE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_MOUNT_CONFIGURE 156
|
||||
|
||||
typedef struct __mavlink_mount_configure_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint8_t mount_mode; ///< mount operating mode (see MAV_MOUNT_MODE enum)
|
||||
uint8_t stab_roll; ///< (1 = yes, 0 = no)
|
||||
uint8_t stab_pitch; ///< (1 = yes, 0 = no)
|
||||
uint8_t stab_yaw; ///< (1 = yes, 0 = no)
|
||||
} mavlink_mount_configure_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN 6
|
||||
#define MAVLINK_MSG_ID_156_LEN 6
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE { \
|
||||
"MOUNT_CONFIGURE", \
|
||||
6, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_configure_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_configure_t, target_component) }, \
|
||||
{ "mount_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mount_configure_t, mount_mode) }, \
|
||||
{ "stab_roll", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mount_configure_t, stab_roll) }, \
|
||||
{ "stab_pitch", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mount_configure_t, stab_pitch) }, \
|
||||
{ "stab_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mount_configure_t, stab_yaw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a mount_configure message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
|
||||
* @param stab_roll (1 = yes, 0 = no)
|
||||
* @param stab_pitch (1 = yes, 0 = no)
|
||||
* @param stab_yaw (1 = yes, 0 = no)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[6];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, mount_mode);
|
||||
_mav_put_uint8_t(buf, 3, stab_roll);
|
||||
_mav_put_uint8_t(buf, 4, stab_pitch);
|
||||
_mav_put_uint8_t(buf, 5, stab_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 6);
|
||||
#else
|
||||
mavlink_mount_configure_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mount_mode = mount_mode;
|
||||
packet.stab_roll = stab_roll;
|
||||
packet.stab_pitch = stab_pitch;
|
||||
packet.stab_yaw = stab_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a mount_configure message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
|
||||
* @param stab_roll (1 = yes, 0 = no)
|
||||
* @param stab_pitch (1 = yes, 0 = no)
|
||||
* @param stab_yaw (1 = yes, 0 = no)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t mount_mode,uint8_t stab_roll,uint8_t stab_pitch,uint8_t stab_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[6];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, mount_mode);
|
||||
_mav_put_uint8_t(buf, 3, stab_roll);
|
||||
_mav_put_uint8_t(buf, 4, stab_pitch);
|
||||
_mav_put_uint8_t(buf, 5, stab_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 6);
|
||||
#else
|
||||
mavlink_mount_configure_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mount_mode = mount_mode;
|
||||
packet.stab_roll = stab_roll;
|
||||
packet.stab_pitch = stab_pitch;
|
||||
packet.stab_yaw = stab_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a mount_configure struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param mount_configure C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
|
||||
{
|
||||
return mavlink_msg_mount_configure_pack(system_id, component_id, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a mount_configure message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
|
||||
* @param stab_roll (1 = yes, 0 = no)
|
||||
* @param stab_pitch (1 = yes, 0 = no)
|
||||
* @param stab_yaw (1 = yes, 0 = no)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[6];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, mount_mode);
|
||||
_mav_put_uint8_t(buf, 3, stab_roll);
|
||||
_mav_put_uint8_t(buf, 4, stab_pitch);
|
||||
_mav_put_uint8_t(buf, 5, stab_yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, 6);
|
||||
#else
|
||||
mavlink_mount_configure_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mount_mode = mount_mode;
|
||||
packet.stab_roll = stab_roll;
|
||||
packet.stab_pitch = stab_pitch;
|
||||
packet.stab_yaw = stab_yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, 6);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE MOUNT_CONFIGURE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from mount_configure message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_configure_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from mount_configure message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_configure_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mount_mode from mount_configure message
|
||||
*
|
||||
* @return mount operating mode (see MAV_MOUNT_MODE enum)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_configure_get_mount_mode(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field stab_roll from mount_configure message
|
||||
*
|
||||
* @return (1 = yes, 0 = no)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_configure_get_stab_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field stab_pitch from mount_configure message
|
||||
*
|
||||
* @return (1 = yes, 0 = no)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_configure_get_stab_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field stab_yaw from mount_configure message
|
||||
*
|
||||
* @return (1 = yes, 0 = no)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_configure_get_stab_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a mount_configure message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param mount_configure C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_mount_configure_decode(const mavlink_message_t* msg, mavlink_mount_configure_t* mount_configure)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mount_configure->target_system = mavlink_msg_mount_configure_get_target_system(msg);
|
||||
mount_configure->target_component = mavlink_msg_mount_configure_get_target_component(msg);
|
||||
mount_configure->mount_mode = mavlink_msg_mount_configure_get_mount_mode(msg);
|
||||
mount_configure->stab_roll = mavlink_msg_mount_configure_get_stab_roll(msg);
|
||||
mount_configure->stab_pitch = mavlink_msg_mount_configure_get_stab_pitch(msg);
|
||||
mount_configure->stab_yaw = mavlink_msg_mount_configure_get_stab_yaw(msg);
|
||||
#else
|
||||
memcpy(mount_configure, _MAV_PAYLOAD(msg), 6);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE MOUNT_CONTROL PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_MOUNT_CONTROL 157
|
||||
|
||||
typedef struct __mavlink_mount_control_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
int32_t input_a; ///< pitch(deg*100) or lat, depending on mount mode
|
||||
int32_t input_b; ///< roll(deg*100) or lon depending on mount mode
|
||||
int32_t input_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
uint8_t save_position; ///< if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
|
||||
} mavlink_mount_control_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_MOUNT_CONTROL_LEN 15
|
||||
#define MAVLINK_MSG_ID_157_LEN 15
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
|
||||
"MOUNT_CONTROL", \
|
||||
6, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_control_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_control_t, target_component) }, \
|
||||
{ "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_mount_control_t, input_a) }, \
|
||||
{ "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_mount_control_t, input_b) }, \
|
||||
{ "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_mount_control_t, input_c) }, \
|
||||
{ "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a mount_control message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param input_a pitch(deg*100) or lat, depending on mount mode
|
||||
* @param input_b roll(deg*100) or lon depending on mount mode
|
||||
* @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
* @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[15];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, input_a);
|
||||
_mav_put_int32_t(buf, 6, input_b);
|
||||
_mav_put_int32_t(buf, 10, input_c);
|
||||
_mav_put_uint8_t(buf, 14, save_position);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 15);
|
||||
#else
|
||||
mavlink_mount_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.input_a = input_a;
|
||||
packet.input_b = input_b;
|
||||
packet.input_c = input_c;
|
||||
packet.save_position = save_position;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 15);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a mount_control message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param input_a pitch(deg*100) or lat, depending on mount mode
|
||||
* @param input_b roll(deg*100) or lon depending on mount mode
|
||||
* @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
* @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,int32_t input_a,int32_t input_b,int32_t input_c,uint8_t save_position)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[15];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, input_a);
|
||||
_mav_put_int32_t(buf, 6, input_b);
|
||||
_mav_put_int32_t(buf, 10, input_c);
|
||||
_mav_put_uint8_t(buf, 14, save_position);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 15);
|
||||
#else
|
||||
mavlink_mount_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.input_a = input_a;
|
||||
packet.input_b = input_b;
|
||||
packet.input_c = input_c;
|
||||
packet.save_position = save_position;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 15);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 15);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a mount_control struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param mount_control C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
|
||||
{
|
||||
return mavlink_msg_mount_control_pack(system_id, component_id, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a mount_control message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param input_a pitch(deg*100) or lat, depending on mount mode
|
||||
* @param input_b roll(deg*100) or lon depending on mount mode
|
||||
* @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
* @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[15];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, input_a);
|
||||
_mav_put_int32_t(buf, 6, input_b);
|
||||
_mav_put_int32_t(buf, 10, input_c);
|
||||
_mav_put_uint8_t(buf, 14, save_position);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, 15);
|
||||
#else
|
||||
mavlink_mount_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.input_a = input_a;
|
||||
packet.input_b = input_b;
|
||||
packet.input_c = input_c;
|
||||
packet.save_position = save_position;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, 15);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE MOUNT_CONTROL UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from mount_control message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_control_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from mount_control message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_control_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field input_a from mount_control message
|
||||
*
|
||||
* @return pitch(deg*100) or lat, depending on mount mode
|
||||
*/
|
||||
static inline int32_t mavlink_msg_mount_control_get_input_a(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field input_b from mount_control message
|
||||
*
|
||||
* @return roll(deg*100) or lon depending on mount mode
|
||||
*/
|
||||
static inline int32_t mavlink_msg_mount_control_get_input_b(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field input_c from mount_control message
|
||||
*
|
||||
* @return yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
*/
|
||||
static inline int32_t mavlink_msg_mount_control_get_input_c(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field save_position from mount_control message
|
||||
*
|
||||
* @return if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_control_get_save_position(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a mount_control message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param mount_control C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_mount_control_decode(const mavlink_message_t* msg, mavlink_mount_control_t* mount_control)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mount_control->target_system = mavlink_msg_mount_control_get_target_system(msg);
|
||||
mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg);
|
||||
mount_control->input_a = mavlink_msg_mount_control_get_input_a(msg);
|
||||
mount_control->input_b = mavlink_msg_mount_control_get_input_b(msg);
|
||||
mount_control->input_c = mavlink_msg_mount_control_get_input_c(msg);
|
||||
mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg);
|
||||
#else
|
||||
memcpy(mount_control, _MAV_PAYLOAD(msg), 15);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE MOUNT_STATUS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_MOUNT_STATUS 158
|
||||
|
||||
typedef struct __mavlink_mount_status_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
int32_t pointing_a; ///< pitch(deg*100) or lat, depending on mount mode
|
||||
int32_t pointing_b; ///< roll(deg*100) or lon depending on mount mode
|
||||
int32_t pointing_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
} mavlink_mount_status_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_MOUNT_STATUS_LEN 14
|
||||
#define MAVLINK_MSG_ID_158_LEN 14
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_MOUNT_STATUS { \
|
||||
"MOUNT_STATUS", \
|
||||
5, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_status_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_status_t, target_component) }, \
|
||||
{ "pointing_a", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_mount_status_t, pointing_a) }, \
|
||||
{ "pointing_b", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_mount_status_t, pointing_b) }, \
|
||||
{ "pointing_c", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_mount_status_t, pointing_c) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a mount_status message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param pointing_a pitch(deg*100) or lat, depending on mount mode
|
||||
* @param pointing_b roll(deg*100) or lon depending on mount mode
|
||||
* @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, pointing_a);
|
||||
_mav_put_int32_t(buf, 6, pointing_b);
|
||||
_mav_put_int32_t(buf, 10, pointing_c);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_mount_status_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.pointing_a = pointing_a;
|
||||
packet.pointing_b = pointing_b;
|
||||
packet.pointing_c = pointing_c;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a mount_status message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param pointing_a pitch(deg*100) or lat, depending on mount mode
|
||||
* @param pointing_b roll(deg*100) or lon depending on mount mode
|
||||
* @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,int32_t pointing_a,int32_t pointing_b,int32_t pointing_c)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, pointing_a);
|
||||
_mav_put_int32_t(buf, 6, pointing_b);
|
||||
_mav_put_int32_t(buf, 10, pointing_c);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_mount_status_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.pointing_a = pointing_a;
|
||||
packet.pointing_b = pointing_b;
|
||||
packet.pointing_c = pointing_c;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a mount_status struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param mount_status C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_mount_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
|
||||
{
|
||||
return mavlink_msg_mount_status_pack(system_id, component_id, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a mount_status message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param pointing_a pitch(deg*100) or lat, depending on mount mode
|
||||
* @param pointing_b roll(deg*100) or lon depending on mount mode
|
||||
* @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, pointing_a);
|
||||
_mav_put_int32_t(buf, 6, pointing_b);
|
||||
_mav_put_int32_t(buf, 10, pointing_c);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, 14);
|
||||
#else
|
||||
mavlink_mount_status_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.pointing_a = pointing_a;
|
||||
packet.pointing_b = pointing_b;
|
||||
packet.pointing_c = pointing_c;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, 14);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE MOUNT_STATUS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from mount_status message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_status_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from mount_status message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_mount_status_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pointing_a from mount_status message
|
||||
*
|
||||
* @return pitch(deg*100) or lat, depending on mount mode
|
||||
*/
|
||||
static inline int32_t mavlink_msg_mount_status_get_pointing_a(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pointing_b from mount_status message
|
||||
*
|
||||
* @return roll(deg*100) or lon depending on mount mode
|
||||
*/
|
||||
static inline int32_t mavlink_msg_mount_status_get_pointing_b(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pointing_c from mount_status message
|
||||
*
|
||||
* @return yaw(deg*100) or alt (in cm) depending on mount mode
|
||||
*/
|
||||
static inline int32_t mavlink_msg_mount_status_get_pointing_c(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a mount_status message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param mount_status C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_mount_status_decode(const mavlink_message_t* msg, mavlink_mount_status_t* mount_status)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mount_status->target_system = mavlink_msg_mount_status_get_target_system(msg);
|
||||
mount_status->target_component = mavlink_msg_mount_status_get_target_component(msg);
|
||||
mount_status->pointing_a = mavlink_msg_mount_status_get_pointing_a(msg);
|
||||
mount_status->pointing_b = mavlink_msg_mount_status_get_pointing_b(msg);
|
||||
mount_status->pointing_c = mavlink_msg_mount_status_get_pointing_c(msg);
|
||||
#else
|
||||
memcpy(mount_status, _MAV_PAYLOAD(msg), 14);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,386 @@
|
||||
// MESSAGE SENSOR_OFFSETS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
|
||||
|
||||
typedef struct __mavlink_sensor_offsets_t
|
||||
{
|
||||
int16_t mag_ofs_x; ///< magnetometer X offset
|
||||
int16_t mag_ofs_y; ///< magnetometer Y offset
|
||||
int16_t mag_ofs_z; ///< magnetometer Z offset
|
||||
float mag_declination; ///< magnetic declination (radians)
|
||||
int32_t raw_press; ///< raw pressure from barometer
|
||||
int32_t raw_temp; ///< raw temperature from barometer
|
||||
float gyro_cal_x; ///< gyro X calibration
|
||||
float gyro_cal_y; ///< gyro Y calibration
|
||||
float gyro_cal_z; ///< gyro Z calibration
|
||||
float accel_cal_x; ///< accel X calibration
|
||||
float accel_cal_y; ///< accel Y calibration
|
||||
float accel_cal_z; ///< accel Z calibration
|
||||
} mavlink_sensor_offsets_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
|
||||
#define MAVLINK_MSG_ID_150_LEN 42
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
|
||||
"SENSOR_OFFSETS", \
|
||||
12, \
|
||||
{ { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
|
||||
{ "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
|
||||
{ "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
|
||||
{ "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
|
||||
{ "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
|
||||
{ "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 14, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
|
||||
{ "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
|
||||
{ "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
|
||||
{ "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
|
||||
{ "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 30, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
|
||||
{ "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 34, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
|
||||
{ "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 38, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a sensor_offsets message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param mag_ofs_x magnetometer X offset
|
||||
* @param mag_ofs_y magnetometer Y offset
|
||||
* @param mag_ofs_z magnetometer Z offset
|
||||
* @param mag_declination magnetic declination (radians)
|
||||
* @param raw_press raw pressure from barometer
|
||||
* @param raw_temp raw temperature from barometer
|
||||
* @param gyro_cal_x gyro X calibration
|
||||
* @param gyro_cal_y gyro Y calibration
|
||||
* @param gyro_cal_z gyro Z calibration
|
||||
* @param accel_cal_x accel X calibration
|
||||
* @param accel_cal_y accel Y calibration
|
||||
* @param accel_cal_z accel Z calibration
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[42];
|
||||
_mav_put_int16_t(buf, 0, mag_ofs_x);
|
||||
_mav_put_int16_t(buf, 2, mag_ofs_y);
|
||||
_mav_put_int16_t(buf, 4, mag_ofs_z);
|
||||
_mav_put_float(buf, 6, mag_declination);
|
||||
_mav_put_int32_t(buf, 10, raw_press);
|
||||
_mav_put_int32_t(buf, 14, raw_temp);
|
||||
_mav_put_float(buf, 18, gyro_cal_x);
|
||||
_mav_put_float(buf, 22, gyro_cal_y);
|
||||
_mav_put_float(buf, 26, gyro_cal_z);
|
||||
_mav_put_float(buf, 30, accel_cal_x);
|
||||
_mav_put_float(buf, 34, accel_cal_y);
|
||||
_mav_put_float(buf, 38, accel_cal_z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 42);
|
||||
#else
|
||||
mavlink_sensor_offsets_t packet;
|
||||
packet.mag_ofs_x = mag_ofs_x;
|
||||
packet.mag_ofs_y = mag_ofs_y;
|
||||
packet.mag_ofs_z = mag_ofs_z;
|
||||
packet.mag_declination = mag_declination;
|
||||
packet.raw_press = raw_press;
|
||||
packet.raw_temp = raw_temp;
|
||||
packet.gyro_cal_x = gyro_cal_x;
|
||||
packet.gyro_cal_y = gyro_cal_y;
|
||||
packet.gyro_cal_z = gyro_cal_z;
|
||||
packet.accel_cal_x = accel_cal_x;
|
||||
packet.accel_cal_y = accel_cal_y;
|
||||
packet.accel_cal_z = accel_cal_z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 42);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 42);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a sensor_offsets message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param mag_ofs_x magnetometer X offset
|
||||
* @param mag_ofs_y magnetometer Y offset
|
||||
* @param mag_ofs_z magnetometer Z offset
|
||||
* @param mag_declination magnetic declination (radians)
|
||||
* @param raw_press raw pressure from barometer
|
||||
* @param raw_temp raw temperature from barometer
|
||||
* @param gyro_cal_x gyro X calibration
|
||||
* @param gyro_cal_y gyro Y calibration
|
||||
* @param gyro_cal_z gyro Z calibration
|
||||
* @param accel_cal_x accel X calibration
|
||||
* @param accel_cal_y accel Y calibration
|
||||
* @param accel_cal_z accel Z calibration
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[42];
|
||||
_mav_put_int16_t(buf, 0, mag_ofs_x);
|
||||
_mav_put_int16_t(buf, 2, mag_ofs_y);
|
||||
_mav_put_int16_t(buf, 4, mag_ofs_z);
|
||||
_mav_put_float(buf, 6, mag_declination);
|
||||
_mav_put_int32_t(buf, 10, raw_press);
|
||||
_mav_put_int32_t(buf, 14, raw_temp);
|
||||
_mav_put_float(buf, 18, gyro_cal_x);
|
||||
_mav_put_float(buf, 22, gyro_cal_y);
|
||||
_mav_put_float(buf, 26, gyro_cal_z);
|
||||
_mav_put_float(buf, 30, accel_cal_x);
|
||||
_mav_put_float(buf, 34, accel_cal_y);
|
||||
_mav_put_float(buf, 38, accel_cal_z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 42);
|
||||
#else
|
||||
mavlink_sensor_offsets_t packet;
|
||||
packet.mag_ofs_x = mag_ofs_x;
|
||||
packet.mag_ofs_y = mag_ofs_y;
|
||||
packet.mag_ofs_z = mag_ofs_z;
|
||||
packet.mag_declination = mag_declination;
|
||||
packet.raw_press = raw_press;
|
||||
packet.raw_temp = raw_temp;
|
||||
packet.gyro_cal_x = gyro_cal_x;
|
||||
packet.gyro_cal_y = gyro_cal_y;
|
||||
packet.gyro_cal_z = gyro_cal_z;
|
||||
packet.accel_cal_x = accel_cal_x;
|
||||
packet.accel_cal_y = accel_cal_y;
|
||||
packet.accel_cal_z = accel_cal_z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 42);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a sensor_offsets struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param sensor_offsets C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
|
||||
{
|
||||
return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a sensor_offsets message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param mag_ofs_x magnetometer X offset
|
||||
* @param mag_ofs_y magnetometer Y offset
|
||||
* @param mag_ofs_z magnetometer Z offset
|
||||
* @param mag_declination magnetic declination (radians)
|
||||
* @param raw_press raw pressure from barometer
|
||||
* @param raw_temp raw temperature from barometer
|
||||
* @param gyro_cal_x gyro X calibration
|
||||
* @param gyro_cal_y gyro Y calibration
|
||||
* @param gyro_cal_z gyro Z calibration
|
||||
* @param accel_cal_x accel X calibration
|
||||
* @param accel_cal_y accel Y calibration
|
||||
* @param accel_cal_z accel Z calibration
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[42];
|
||||
_mav_put_int16_t(buf, 0, mag_ofs_x);
|
||||
_mav_put_int16_t(buf, 2, mag_ofs_y);
|
||||
_mav_put_int16_t(buf, 4, mag_ofs_z);
|
||||
_mav_put_float(buf, 6, mag_declination);
|
||||
_mav_put_int32_t(buf, 10, raw_press);
|
||||
_mav_put_int32_t(buf, 14, raw_temp);
|
||||
_mav_put_float(buf, 18, gyro_cal_x);
|
||||
_mav_put_float(buf, 22, gyro_cal_y);
|
||||
_mav_put_float(buf, 26, gyro_cal_z);
|
||||
_mav_put_float(buf, 30, accel_cal_x);
|
||||
_mav_put_float(buf, 34, accel_cal_y);
|
||||
_mav_put_float(buf, 38, accel_cal_z);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, 42);
|
||||
#else
|
||||
mavlink_sensor_offsets_t packet;
|
||||
packet.mag_ofs_x = mag_ofs_x;
|
||||
packet.mag_ofs_y = mag_ofs_y;
|
||||
packet.mag_ofs_z = mag_ofs_z;
|
||||
packet.mag_declination = mag_declination;
|
||||
packet.raw_press = raw_press;
|
||||
packet.raw_temp = raw_temp;
|
||||
packet.gyro_cal_x = gyro_cal_x;
|
||||
packet.gyro_cal_y = gyro_cal_y;
|
||||
packet.gyro_cal_z = gyro_cal_z;
|
||||
packet.accel_cal_x = accel_cal_x;
|
||||
packet.accel_cal_y = accel_cal_y;
|
||||
packet.accel_cal_z = accel_cal_z;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, 42);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SENSOR_OFFSETS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field mag_ofs_x from sensor_offsets message
|
||||
*
|
||||
* @return magnetometer X offset
|
||||
*/
|
||||
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mag_ofs_y from sensor_offsets message
|
||||
*
|
||||
* @return magnetometer Y offset
|
||||
*/
|
||||
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mag_ofs_z from sensor_offsets message
|
||||
*
|
||||
* @return magnetometer Z offset
|
||||
*/
|
||||
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mag_declination from sensor_offsets message
|
||||
*
|
||||
* @return magnetic declination (radians)
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field raw_press from sensor_offsets message
|
||||
*
|
||||
* @return raw pressure from barometer
|
||||
*/
|
||||
static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field raw_temp from sensor_offsets message
|
||||
*
|
||||
* @return raw temperature from barometer
|
||||
*/
|
||||
static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field gyro_cal_x from sensor_offsets message
|
||||
*
|
||||
* @return gyro X calibration
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field gyro_cal_y from sensor_offsets message
|
||||
*
|
||||
* @return gyro Y calibration
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 22);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field gyro_cal_z from sensor_offsets message
|
||||
*
|
||||
* @return gyro Z calibration
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field accel_cal_x from sensor_offsets message
|
||||
*
|
||||
* @return accel X calibration
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 30);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field accel_cal_y from sensor_offsets message
|
||||
*
|
||||
* @return accel Y calibration
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 34);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field accel_cal_z from sensor_offsets message
|
||||
*
|
||||
* @return accel Z calibration
|
||||
*/
|
||||
static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 38);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a sensor_offsets message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param sensor_offsets C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
|
||||
sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
|
||||
sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
|
||||
sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
|
||||
sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
|
||||
sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
|
||||
sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
|
||||
sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
|
||||
sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
|
||||
sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
|
||||
sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
|
||||
sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
|
||||
#else
|
||||
memcpy(sensor_offsets, _MAV_PAYLOAD(msg), 42);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE SET_MAG_OFFSETS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
|
||||
|
||||
typedef struct __mavlink_set_mag_offsets_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
int16_t mag_ofs_x; ///< magnetometer X offset
|
||||
int16_t mag_ofs_y; ///< magnetometer Y offset
|
||||
int16_t mag_ofs_z; ///< magnetometer Z offset
|
||||
} mavlink_set_mag_offsets_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8
|
||||
#define MAVLINK_MSG_ID_151_LEN 8
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \
|
||||
"SET_MAG_OFFSETS", \
|
||||
5, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mag_offsets_t, target_component) }, \
|
||||
{ "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \
|
||||
{ "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \
|
||||
{ "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a set_mag_offsets message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mag_ofs_x magnetometer X offset
|
||||
* @param mag_ofs_y magnetometer Y offset
|
||||
* @param mag_ofs_z magnetometer Z offset
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int16_t(buf, 2, mag_ofs_x);
|
||||
_mav_put_int16_t(buf, 4, mag_ofs_y);
|
||||
_mav_put_int16_t(buf, 6, mag_ofs_z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_set_mag_offsets_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mag_ofs_x = mag_ofs_x;
|
||||
packet.mag_ofs_y = mag_ofs_y;
|
||||
packet.mag_ofs_z = mag_ofs_z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a set_mag_offsets message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mag_ofs_x magnetometer X offset
|
||||
* @param mag_ofs_y magnetometer Y offset
|
||||
* @param mag_ofs_z magnetometer Z offset
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int16_t(buf, 2, mag_ofs_x);
|
||||
_mav_put_int16_t(buf, 4, mag_ofs_y);
|
||||
_mav_put_int16_t(buf, 6, mag_ofs_z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_set_mag_offsets_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mag_ofs_x = mag_ofs_x;
|
||||
packet.mag_ofs_y = mag_ofs_y;
|
||||
packet.mag_ofs_z = mag_ofs_z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a set_mag_offsets struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param set_mag_offsets C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
|
||||
{
|
||||
return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a set_mag_offsets message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param mag_ofs_x magnetometer X offset
|
||||
* @param mag_ofs_y magnetometer Y offset
|
||||
* @param mag_ofs_z magnetometer Z offset
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int16_t(buf, 2, mag_ofs_x);
|
||||
_mav_put_int16_t(buf, 4, mag_ofs_y);
|
||||
_mav_put_int16_t(buf, 6, mag_ofs_z);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, 8);
|
||||
#else
|
||||
mavlink_set_mag_offsets_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.mag_ofs_x = mag_ofs_x;
|
||||
packet.mag_ofs_y = mag_ofs_y;
|
||||
packet.mag_ofs_z = mag_ofs_z;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, 8);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SET_MAG_OFFSETS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from set_mag_offsets message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from set_mag_offsets message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mag_ofs_x from set_mag_offsets message
|
||||
*
|
||||
* @return magnetometer X offset
|
||||
*/
|
||||
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mag_ofs_y from set_mag_offsets message
|
||||
*
|
||||
* @return magnetometer Y offset
|
||||
*/
|
||||
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mag_ofs_z from set_mag_offsets message
|
||||
*
|
||||
* @return magnetometer Z offset
|
||||
*/
|
||||
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a set_mag_offsets message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param set_mag_offsets C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
|
||||
set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
|
||||
set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
|
||||
set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
|
||||
set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
|
||||
#else
|
||||
memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), 8);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,690 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
|
||||
* @see http://qgroundcontrol.org/mavlink/
|
||||
*/
|
||||
#ifndef ARDUPILOTMEGA_TESTSUITE_H
|
||||
#define ARDUPILOTMEGA_TESTSUITE_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_TEST_ALL
|
||||
#define MAVLINK_TEST_ALL
|
||||
static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
|
||||
static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
|
||||
|
||||
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_test_common(system_id, component_id, last_msg);
|
||||
mavlink_test_ardupilotmega(system_id, component_id, last_msg);
|
||||
}
|
||||
#endif
|
||||
|
||||
#include "../common/testsuite.h"
|
||||
|
||||
|
||||
static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_sensor_offsets_t packet_in = {
|
||||
17235,
|
||||
17339,
|
||||
17443,
|
||||
59.0,
|
||||
963497984,
|
||||
963498192,
|
||||
143.0,
|
||||
171.0,
|
||||
199.0,
|
||||
227.0,
|
||||
255.0,
|
||||
283.0,
|
||||
};
|
||||
mavlink_sensor_offsets_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.mag_ofs_x = packet_in.mag_ofs_x;
|
||||
packet1.mag_ofs_y = packet_in.mag_ofs_y;
|
||||
packet1.mag_ofs_z = packet_in.mag_ofs_z;
|
||||
packet1.mag_declination = packet_in.mag_declination;
|
||||
packet1.raw_press = packet_in.raw_press;
|
||||
packet1.raw_temp = packet_in.raw_temp;
|
||||
packet1.gyro_cal_x = packet_in.gyro_cal_x;
|
||||
packet1.gyro_cal_y = packet_in.gyro_cal_y;
|
||||
packet1.gyro_cal_z = packet_in.gyro_cal_z;
|
||||
packet1.accel_cal_x = packet_in.accel_cal_x;
|
||||
packet1.accel_cal_y = packet_in.accel_cal_y;
|
||||
packet1.accel_cal_z = packet_in.accel_cal_z;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
|
||||
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
|
||||
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
|
||||
mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_set_mag_offsets_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
17339,
|
||||
17443,
|
||||
17547,
|
||||
};
|
||||
mavlink_set_mag_offsets_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.mag_ofs_x = packet_in.mag_ofs_x;
|
||||
packet1.mag_ofs_y = packet_in.mag_ofs_y;
|
||||
packet1.mag_ofs_z = packet_in.mag_ofs_z;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
|
||||
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
|
||||
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
|
||||
mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_meminfo_t packet_in = {
|
||||
17235,
|
||||
17339,
|
||||
};
|
||||
mavlink_meminfo_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.brkval = packet_in.brkval;
|
||||
packet1.freemem = packet_in.freemem;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_meminfo_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
|
||||
mavlink_msg_meminfo_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
|
||||
mavlink_msg_meminfo_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_meminfo_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
|
||||
mavlink_msg_meminfo_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_ap_adc_t packet_in = {
|
||||
17235,
|
||||
17339,
|
||||
17443,
|
||||
17547,
|
||||
17651,
|
||||
17755,
|
||||
};
|
||||
mavlink_ap_adc_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.adc1 = packet_in.adc1;
|
||||
packet1.adc2 = packet_in.adc2;
|
||||
packet1.adc3 = packet_in.adc3;
|
||||
packet1.adc4 = packet_in.adc4;
|
||||
packet1.adc5 = packet_in.adc5;
|
||||
packet1.adc6 = packet_in.adc6;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_ap_adc_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
|
||||
mavlink_msg_ap_adc_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
|
||||
mavlink_msg_ap_adc_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_ap_adc_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
|
||||
mavlink_msg_ap_adc_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_digicam_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_digicam_configure_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
139,
|
||||
17391,
|
||||
84,
|
||||
151,
|
||||
218,
|
||||
29,
|
||||
96,
|
||||
163,
|
||||
94.0,
|
||||
};
|
||||
mavlink_digicam_configure_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.mode = packet_in.mode;
|
||||
packet1.shutter_speed = packet_in.shutter_speed;
|
||||
packet1.aperture = packet_in.aperture;
|
||||
packet1.iso = packet_in.iso;
|
||||
packet1.exposure_type = packet_in.exposure_type;
|
||||
packet1.command_id = packet_in.command_id;
|
||||
packet1.engine_cut_off = packet_in.engine_cut_off;
|
||||
packet1.extra_param = packet_in.extra_param;
|
||||
packet1.extra_value = packet_in.extra_value;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_digicam_configure_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
|
||||
mavlink_msg_digicam_configure_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
|
||||
mavlink_msg_digicam_configure_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_digicam_configure_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
|
||||
mavlink_msg_digicam_configure_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_digicam_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_digicam_control_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
139,
|
||||
206,
|
||||
17,
|
||||
84,
|
||||
151,
|
||||
218,
|
||||
29,
|
||||
80.0,
|
||||
};
|
||||
mavlink_digicam_control_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.session = packet_in.session;
|
||||
packet1.zoom_pos = packet_in.zoom_pos;
|
||||
packet1.zoom_step = packet_in.zoom_step;
|
||||
packet1.focus_lock = packet_in.focus_lock;
|
||||
packet1.shot = packet_in.shot;
|
||||
packet1.command_id = packet_in.command_id;
|
||||
packet1.extra_param = packet_in.extra_param;
|
||||
packet1.extra_value = packet_in.extra_value;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_digicam_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
|
||||
mavlink_msg_digicam_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
|
||||
mavlink_msg_digicam_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_digicam_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
|
||||
mavlink_msg_digicam_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_mount_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_mount_configure_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
139,
|
||||
206,
|
||||
17,
|
||||
84,
|
||||
};
|
||||
mavlink_mount_configure_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.mount_mode = packet_in.mount_mode;
|
||||
packet1.stab_roll = packet_in.stab_roll;
|
||||
packet1.stab_pitch = packet_in.stab_pitch;
|
||||
packet1.stab_yaw = packet_in.stab_yaw;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_mount_configure_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
|
||||
mavlink_msg_mount_configure_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
|
||||
mavlink_msg_mount_configure_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_mount_configure_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
|
||||
mavlink_msg_mount_configure_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_mount_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_mount_control_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
963497568,
|
||||
963497776,
|
||||
963497984,
|
||||
175,
|
||||
};
|
||||
mavlink_mount_control_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.input_a = packet_in.input_a;
|
||||
packet1.input_b = packet_in.input_b;
|
||||
packet1.input_c = packet_in.input_c;
|
||||
packet1.save_position = packet_in.save_position;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_mount_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
|
||||
mavlink_msg_mount_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
|
||||
mavlink_msg_mount_control_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_mount_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
|
||||
mavlink_msg_mount_control_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_mount_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_mount_status_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
963497568,
|
||||
963497776,
|
||||
963497984,
|
||||
};
|
||||
mavlink_mount_status_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.pointing_a = packet_in.pointing_a;
|
||||
packet1.pointing_b = packet_in.pointing_b;
|
||||
packet1.pointing_c = packet_in.pointing_c;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_mount_status_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
|
||||
mavlink_msg_mount_status_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
|
||||
mavlink_msg_mount_status_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_mount_status_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
|
||||
mavlink_msg_mount_status_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_fence_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_fence_point_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
139,
|
||||
206,
|
||||
45.0,
|
||||
73.0,
|
||||
};
|
||||
mavlink_fence_point_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.idx = packet_in.idx;
|
||||
packet1.count = packet_in.count;
|
||||
packet1.lat = packet_in.lat;
|
||||
packet1.lng = packet_in.lng;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_fence_point_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
|
||||
mavlink_msg_fence_point_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
|
||||
mavlink_msg_fence_point_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_fence_point_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
|
||||
mavlink_msg_fence_point_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_fence_fetch_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_fence_fetch_point_t packet_in = {
|
||||
5,
|
||||
72,
|
||||
139,
|
||||
};
|
||||
mavlink_fence_fetch_point_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.target_system = packet_in.target_system;
|
||||
packet1.target_component = packet_in.target_component;
|
||||
packet1.idx = packet_in.idx;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
|
||||
mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
|
||||
mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
|
||||
mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_fence_status_t packet_in = {
|
||||
5,
|
||||
17287,
|
||||
206,
|
||||
963497672,
|
||||
};
|
||||
mavlink_fence_status_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.breach_status = packet_in.breach_status;
|
||||
packet1.breach_count = packet_in.breach_count;
|
||||
packet1.breach_type = packet_in.breach_type;
|
||||
packet1.breach_time = packet_in.breach_time;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_fence_status_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
|
||||
mavlink_msg_fence_status_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
|
||||
mavlink_msg_fence_status_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_fence_status_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
|
||||
mavlink_msg_fence_status_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
|
||||
mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
|
||||
mavlink_test_meminfo(system_id, component_id, last_msg);
|
||||
mavlink_test_ap_adc(system_id, component_id, last_msg);
|
||||
mavlink_test_digicam_configure(system_id, component_id, last_msg);
|
||||
mavlink_test_digicam_control(system_id, component_id, last_msg);
|
||||
mavlink_test_mount_configure(system_id, component_id, last_msg);
|
||||
mavlink_test_mount_control(system_id, component_id, last_msg);
|
||||
mavlink_test_mount_status(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_point(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
|
||||
mavlink_test_fence_status(system_id, component_id, last_msg);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif // __cplusplus
|
||||
#endif // ARDUPILOTMEGA_TESTSUITE_H
|
||||
@@ -0,0 +1,12 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol built from ardupilotmega.xml
|
||||
* @see http://pixhawk.ethz.ch/software/mavlink
|
||||
*/
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Fri Dec 16 12:39:09 2011"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
#endif // MAVLINK_VERSION_H
|
||||
@@ -0,0 +1,89 @@
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#ifndef _CHECKSUM_H_
|
||||
#define _CHECKSUM_H_
|
||||
|
||||
|
||||
/**
|
||||
*
|
||||
* CALCULATE THE CHECKSUM
|
||||
*
|
||||
*/
|
||||
|
||||
#define X25_INIT_CRC 0xffff
|
||||
#define X25_VALIDATE_CRC 0xf0b8
|
||||
|
||||
/**
|
||||
* @brief 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
|
||||
* 16 bit checksum (uint16_t).
|
||||
*
|
||||
* @param data new char to hash
|
||||
* @param crcAccum the already accumulated checksum
|
||||
**/
|
||||
static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
|
||||
{
|
||||
/*Accumulate one byte of data into the CRC*/
|
||||
uint8_t tmp;
|
||||
|
||||
tmp = data ^ (uint8_t)(*crcAccum &0xff);
|
||||
tmp ^= (tmp<<4);
|
||||
*crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initiliaze the buffer for the X.25 CRC
|
||||
*
|
||||
* @param crcAccum the 16 bit X.25 CRC
|
||||
*/
|
||||
static inline void crc_init(uint16_t* crcAccum)
|
||||
{
|
||||
*crcAccum = X25_INIT_CRC;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Calculates the X.25 checksum on a byte buffer
|
||||
*
|
||||
* @param pBuffer buffer containing the byte array to hash
|
||||
* @param length length of the byte array
|
||||
* @return the checksum over the buffer bytes
|
||||
**/
|
||||
static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
|
||||
{
|
||||
uint16_t crcTmp;
|
||||
crc_init(&crcTmp);
|
||||
while (length--) {
|
||||
crc_accumulate(*pBuffer++, &crcTmp);
|
||||
}
|
||||
return crcTmp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Accumulate the X.25 CRC by adding an array of bytes
|
||||
*
|
||||
* The checksum function adds the hash of one char at a time to the
|
||||
* 16 bit checksum (uint16_t).
|
||||
*
|
||||
* @param data new bytes to hash
|
||||
* @param crcAccum the already accumulated checksum
|
||||
**/
|
||||
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
|
||||
{
|
||||
const uint8_t *p = (const uint8_t *)pBuffer;
|
||||
while (length--) {
|
||||
crc_accumulate(*p++, crcAccum);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* _CHECKSUM_H_ */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,159 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol generated from common.xml
|
||||
* @see http://qgroundcontrol.org/mavlink/
|
||||
*/
|
||||
#ifndef COMMON_H
|
||||
#define COMMON_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// MESSAGE LENGTHS AND CRCS
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_LENGTHS
|
||||
#define MAVLINK_MESSAGE_LENGTHS {3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51, 5}
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_CRCS
|
||||
#define MAVLINK_MESSAGE_CRCS {72, 39, 190, 92, 191, 217, 104, 119, 0, 219, 60, 186, 10, 0, 0, 0, 0, 0, 0, 0, 89, 159, 162, 121, 0, 149, 222, 110, 179, 136, 66, 126, 185, 147, 112, 252, 162, 215, 229, 128, 9, 106, 101, 213, 4, 229, 21, 214, 215, 14, 206, 50, 157, 126, 108, 213, 95, 5, 127, 0, 0, 0, 57, 126, 130, 119, 193, 191, 236, 158, 143, 0, 0, 104, 123, 131, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 174, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 155, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 178, 224, 60, 106, 7}
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_MESSAGE_INFO
|
||||
#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_BOOT, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_SYSTEM_TIME_UTC, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, MAVLINK_MESSAGE_INFO_ACTION_ACK, MAVLINK_MESSAGE_INFO_ACTION, MAVLINK_MESSAGE_INFO_SET_MODE, MAVLINK_MESSAGE_INFO_SET_NAV_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, {NULL}, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_LOCAL_POSITION, MAVLINK_MESSAGE_INFO_GPS_RAW, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_WAYPOINT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST, MAVLINK_MESSAGE_INFO_WAYPOINT_SET_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_CURRENT, MAVLINK_MESSAGE_INFO_WAYPOINT_REQUEST_LIST, MAVLINK_MESSAGE_INFO_WAYPOINT_COUNT, MAVLINK_MESSAGE_INFO_WAYPOINT_CLEAR_ALL, MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED, MAVLINK_MESSAGE_INFO_WAYPOINT_ACK, MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_CONTROL_STATUS, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_POSITION_TARGET, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, MAVLINK_MESSAGE_INFO_SET_ALTITUDE, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG}
|
||||
#endif
|
||||
|
||||
#include "../protocol.h"
|
||||
|
||||
#define MAVLINK_ENABLED_COMMON
|
||||
|
||||
|
||||
|
||||
// MAVLINK VERSION
|
||||
|
||||
#ifndef MAVLINK_VERSION
|
||||
#define MAVLINK_VERSION 2
|
||||
#endif
|
||||
|
||||
#if (MAVLINK_VERSION == 0)
|
||||
#undef MAVLINK_VERSION
|
||||
#define MAVLINK_VERSION 2
|
||||
#endif
|
||||
|
||||
// ENUM DEFINITIONS
|
||||
|
||||
|
||||
/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
|
||||
recommendation to the autopilot software. Individual autopilots may or may not obey
|
||||
the recommended messages.
|
||||
*/
|
||||
#ifndef HAVE_ENUM_MAV_DATA_STREAM
|
||||
#define HAVE_ENUM_MAV_DATA_STREAM
|
||||
enum MAV_DATA_STREAM
|
||||
{
|
||||
MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
|
||||
MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
|
||||
MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
|
||||
MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
|
||||
MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
|
||||
MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
|
||||
MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
|
||||
MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
|
||||
MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
|
||||
MAV_DATA_STREAM_ENUM_END=13, /* | */
|
||||
};
|
||||
#endif
|
||||
|
||||
/** @brief The ROI (region of interest) for the vehicle. This can be
|
||||
be used by the vehicle for camera/vehicle attitude alignment (see
|
||||
MAV_CMD_NAV_ROI).
|
||||
*/
|
||||
#ifndef HAVE_ENUM_MAV_ROI
|
||||
#define HAVE_ENUM_MAV_ROI
|
||||
enum MAV_ROI
|
||||
{
|
||||
MAV_ROI_NONE=0, /* No region of interest. | */
|
||||
MAV_ROI_WPNEXT=1, /* Point toward next waypoint. | */
|
||||
MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */
|
||||
MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
|
||||
MAV_ROI_TARGET=4, /* Point toward of given id. | */
|
||||
MAV_ROI_ENUM_END=5, /* | */
|
||||
};
|
||||
#endif
|
||||
|
||||
// MESSAGE DEFINITIONS
|
||||
#include "./mavlink_msg_heartbeat.h"
|
||||
#include "./mavlink_msg_boot.h"
|
||||
#include "./mavlink_msg_system_time.h"
|
||||
#include "./mavlink_msg_ping.h"
|
||||
#include "./mavlink_msg_system_time_utc.h"
|
||||
#include "./mavlink_msg_change_operator_control.h"
|
||||
#include "./mavlink_msg_change_operator_control_ack.h"
|
||||
#include "./mavlink_msg_auth_key.h"
|
||||
#include "./mavlink_msg_action_ack.h"
|
||||
#include "./mavlink_msg_action.h"
|
||||
#include "./mavlink_msg_set_mode.h"
|
||||
#include "./mavlink_msg_set_nav_mode.h"
|
||||
#include "./mavlink_msg_param_request_read.h"
|
||||
#include "./mavlink_msg_param_request_list.h"
|
||||
#include "./mavlink_msg_param_value.h"
|
||||
#include "./mavlink_msg_param_set.h"
|
||||
#include "./mavlink_msg_gps_raw_int.h"
|
||||
#include "./mavlink_msg_scaled_imu.h"
|
||||
#include "./mavlink_msg_gps_status.h"
|
||||
#include "./mavlink_msg_raw_imu.h"
|
||||
#include "./mavlink_msg_raw_pressure.h"
|
||||
#include "./mavlink_msg_scaled_pressure.h"
|
||||
#include "./mavlink_msg_attitude.h"
|
||||
#include "./mavlink_msg_local_position.h"
|
||||
#include "./mavlink_msg_global_position.h"
|
||||
#include "./mavlink_msg_gps_raw.h"
|
||||
#include "./mavlink_msg_sys_status.h"
|
||||
#include "./mavlink_msg_rc_channels_raw.h"
|
||||
#include "./mavlink_msg_rc_channels_scaled.h"
|
||||
#include "./mavlink_msg_servo_output_raw.h"
|
||||
#include "./mavlink_msg_waypoint.h"
|
||||
#include "./mavlink_msg_waypoint_request.h"
|
||||
#include "./mavlink_msg_waypoint_set_current.h"
|
||||
#include "./mavlink_msg_waypoint_current.h"
|
||||
#include "./mavlink_msg_waypoint_request_list.h"
|
||||
#include "./mavlink_msg_waypoint_count.h"
|
||||
#include "./mavlink_msg_waypoint_clear_all.h"
|
||||
#include "./mavlink_msg_waypoint_reached.h"
|
||||
#include "./mavlink_msg_waypoint_ack.h"
|
||||
#include "./mavlink_msg_gps_set_global_origin.h"
|
||||
#include "./mavlink_msg_gps_local_origin_set.h"
|
||||
#include "./mavlink_msg_local_position_setpoint_set.h"
|
||||
#include "./mavlink_msg_local_position_setpoint.h"
|
||||
#include "./mavlink_msg_control_status.h"
|
||||
#include "./mavlink_msg_safety_set_allowed_area.h"
|
||||
#include "./mavlink_msg_safety_allowed_area.h"
|
||||
#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
|
||||
#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
|
||||
#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
|
||||
#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
|
||||
#include "./mavlink_msg_nav_controller_output.h"
|
||||
#include "./mavlink_msg_position_target.h"
|
||||
#include "./mavlink_msg_state_correction.h"
|
||||
#include "./mavlink_msg_set_altitude.h"
|
||||
#include "./mavlink_msg_request_data_stream.h"
|
||||
#include "./mavlink_msg_hil_state.h"
|
||||
#include "./mavlink_msg_hil_controls.h"
|
||||
#include "./mavlink_msg_manual_control.h"
|
||||
#include "./mavlink_msg_rc_channels_override.h"
|
||||
#include "./mavlink_msg_global_position_int.h"
|
||||
#include "./mavlink_msg_vfr_hud.h"
|
||||
#include "./mavlink_msg_command.h"
|
||||
#include "./mavlink_msg_command_ack.h"
|
||||
#include "./mavlink_msg_optical_flow.h"
|
||||
#include "./mavlink_msg_object_detection_event.h"
|
||||
#include "./mavlink_msg_debug_vect.h"
|
||||
#include "./mavlink_msg_named_value_float.h"
|
||||
#include "./mavlink_msg_named_value_int.h"
|
||||
#include "./mavlink_msg_statustext.h"
|
||||
#include "./mavlink_msg_debug.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif // __cplusplus
|
||||
#endif // COMMON_H
|
||||
@@ -0,0 +1,27 @@
|
||||
/** @file
|
||||
* @brief MAVLink comm protocol built from common.xml
|
||||
* @see http://pixhawk.ethz.ch/software/mavlink
|
||||
*/
|
||||
#ifndef MAVLINK_H
|
||||
#define MAVLINK_H
|
||||
|
||||
#ifndef MAVLINK_STX
|
||||
#define MAVLINK_STX 85
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_ENDIAN
|
||||
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_ALIGNED_FIELDS
|
||||
#define MAVLINK_ALIGNED_FIELDS 0
|
||||
#endif
|
||||
|
||||
#ifndef MAVLINK_CRC_EXTRA
|
||||
#define MAVLINK_CRC_EXTRA 0
|
||||
#endif
|
||||
|
||||
#include "version.h"
|
||||
#include "common.h"
|
||||
|
||||
#endif // MAVLINK_H
|
||||
@@ -0,0 +1,188 @@
|
||||
// MESSAGE ACTION PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_ACTION 10
|
||||
|
||||
typedef struct __mavlink_action_t
|
||||
{
|
||||
uint8_t target; ///< The system executing the action
|
||||
uint8_t target_component; ///< The component executing the action
|
||||
uint8_t action; ///< The action id
|
||||
} mavlink_action_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_ACTION_LEN 3
|
||||
#define MAVLINK_MSG_ID_10_LEN 3
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_ACTION { \
|
||||
"ACTION", \
|
||||
3, \
|
||||
{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_t, target) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_t, target_component) }, \
|
||||
{ "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_action_t, action) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a action message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target The system executing the action
|
||||
* @param target_component The component executing the action
|
||||
* @param action The action id
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_action_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target, uint8_t target_component, uint8_t action)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, action);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_action_t packet;
|
||||
packet.target = target;
|
||||
packet.target_component = target_component;
|
||||
packet.action = action;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ACTION;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a action message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target The system executing the action
|
||||
* @param target_component The component executing the action
|
||||
* @param action The action id
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_action_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target,uint8_t target_component,uint8_t action)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, action);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_action_t packet;
|
||||
packet.target = target;
|
||||
packet.target_component = target_component;
|
||||
packet.action = action;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ACTION;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a action struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param action C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_action_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_t* action)
|
||||
{
|
||||
return mavlink_msg_action_pack(system_id, component_id, msg, action->target, action->target_component, action->action);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a action message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target The system executing the action
|
||||
* @param target_component The component executing the action
|
||||
* @param action The action id
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_action_send(mavlink_channel_t chan, uint8_t target, uint8_t target_component, uint8_t action)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, action);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, buf, 3);
|
||||
#else
|
||||
mavlink_action_t packet;
|
||||
packet.target = target;
|
||||
packet.target_component = target_component;
|
||||
packet.action = action;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION, (const char *)&packet, 3);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ACTION UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target from action message
|
||||
*
|
||||
* @return The system executing the action
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_action_get_target(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from action message
|
||||
*
|
||||
* @return The component executing the action
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_action_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field action from action message
|
||||
*
|
||||
* @return The action id
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_action_get_action(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a action message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param action C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_action_decode(const mavlink_message_t* msg, mavlink_action_t* action)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
action->target = mavlink_msg_action_get_target(msg);
|
||||
action->target_component = mavlink_msg_action_get_target_component(msg);
|
||||
action->action = mavlink_msg_action_get_action(msg);
|
||||
#else
|
||||
memcpy(action, _MAV_PAYLOAD(msg), 3);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE ACTION_ACK PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_ACTION_ACK 9
|
||||
|
||||
typedef struct __mavlink_action_ack_t
|
||||
{
|
||||
uint8_t action; ///< The action id
|
||||
uint8_t result; ///< 0: Action DENIED, 1: Action executed
|
||||
} mavlink_action_ack_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_ACTION_ACK_LEN 2
|
||||
#define MAVLINK_MSG_ID_9_LEN 2
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_ACTION_ACK { \
|
||||
"ACTION_ACK", \
|
||||
2, \
|
||||
{ { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_action_ack_t, action) }, \
|
||||
{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_action_ack_t, result) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a action_ack message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param action The action id
|
||||
* @param result 0: Action DENIED, 1: Action executed
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t action, uint8_t result)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, action);
|
||||
_mav_put_uint8_t(buf, 1, result);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 2);
|
||||
#else
|
||||
mavlink_action_ack_t packet;
|
||||
packet.action = action;
|
||||
packet.result = result;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a action_ack message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param action The action id
|
||||
* @param result 0: Action DENIED, 1: Action executed
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t action,uint8_t result)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, action);
|
||||
_mav_put_uint8_t(buf, 1, result);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 2);
|
||||
#else
|
||||
mavlink_action_ack_t packet;
|
||||
packet.action = action;
|
||||
packet.result = result;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ACTION_ACK;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a action_ack struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param action_ack C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack)
|
||||
{
|
||||
return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a action_ack message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param action The action id
|
||||
* @param result 0: Action DENIED, 1: Action executed
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, action);
|
||||
_mav_put_uint8_t(buf, 1, result);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, buf, 2);
|
||||
#else
|
||||
mavlink_action_ack_t packet;
|
||||
packet.action = action;
|
||||
packet.result = result;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ACTION_ACK, (const char *)&packet, 2);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ACTION_ACK UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field action from action_ack message
|
||||
*
|
||||
* @return The action id
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field result from action_ack message
|
||||
*
|
||||
* @return 0: Action DENIED, 1: Action executed
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a action_ack message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param action_ack C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
action_ack->action = mavlink_msg_action_ack_get_action(msg);
|
||||
action_ack->result = mavlink_msg_action_ack_get_result(msg);
|
||||
#else
|
||||
memcpy(action_ack, _MAV_PAYLOAD(msg), 2);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,276 @@
|
||||
// MESSAGE ATTITUDE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_ATTITUDE 30
|
||||
|
||||
typedef struct __mavlink_attitude_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
float roll; ///< Roll angle (rad)
|
||||
float pitch; ///< Pitch angle (rad)
|
||||
float yaw; ///< Yaw angle (rad)
|
||||
float rollspeed; ///< Roll angular speed (rad/s)
|
||||
float pitchspeed; ///< Pitch angular speed (rad/s)
|
||||
float yawspeed; ///< Yaw angular speed (rad/s)
|
||||
} mavlink_attitude_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_ATTITUDE_LEN 32
|
||||
#define MAVLINK_MSG_ID_30_LEN 32
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
|
||||
"ATTITUDE", \
|
||||
7, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_t, usec) }, \
|
||||
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, roll) }, \
|
||||
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, pitch) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, yaw) }, \
|
||||
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, rollspeed) }, \
|
||||
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, pitchspeed) }, \
|
||||
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_t, yawspeed) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a attitude message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param rollspeed Roll angular speed (rad/s)
|
||||
* @param pitchspeed Pitch angular speed (rad/s)
|
||||
* @param yawspeed Yaw angular speed (rad/s)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, rollspeed);
|
||||
_mav_put_float(buf, 24, pitchspeed);
|
||||
_mav_put_float(buf, 28, yawspeed);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_attitude_t packet;
|
||||
packet.usec = usec;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a attitude message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param rollspeed Roll angular speed (rad/s)
|
||||
* @param pitchspeed Pitch angular speed (rad/s)
|
||||
* @param yawspeed Yaw angular speed (rad/s)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, rollspeed);
|
||||
_mav_put_float(buf, 24, pitchspeed);
|
||||
_mav_put_float(buf, 28, yawspeed);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_attitude_t packet;
|
||||
packet.usec = usec;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a attitude struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param attitude C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
|
||||
{
|
||||
return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a attitude message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param rollspeed Roll angular speed (rad/s)
|
||||
* @param pitchspeed Pitch angular speed (rad/s)
|
||||
* @param yawspeed Yaw angular speed (rad/s)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, rollspeed);
|
||||
_mav_put_float(buf, 24, pitchspeed);
|
||||
_mav_put_float(buf, 28, yawspeed);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 32);
|
||||
#else
|
||||
mavlink_attitude_t packet;
|
||||
packet.usec = usec;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 32);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ATTITUDE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from attitude message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll from attitude message
|
||||
*
|
||||
* @return Roll angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch from attitude message
|
||||
*
|
||||
* @return Pitch angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from attitude message
|
||||
*
|
||||
* @return Yaw angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field rollspeed from attitude message
|
||||
*
|
||||
* @return Roll angular speed (rad/s)
|
||||
*/
|
||||
static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitchspeed from attitude message
|
||||
*
|
||||
* @return Pitch angular speed (rad/s)
|
||||
*/
|
||||
static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yawspeed from attitude message
|
||||
*
|
||||
* @return Yaw angular speed (rad/s)
|
||||
*/
|
||||
static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a attitude message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param attitude C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
attitude->usec = mavlink_msg_attitude_get_usec(msg);
|
||||
attitude->roll = mavlink_msg_attitude_get_roll(msg);
|
||||
attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
|
||||
attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
|
||||
attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
|
||||
attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
|
||||
attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
|
||||
#else
|
||||
memcpy(attitude, _MAV_PAYLOAD(msg), 32);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
// MESSAGE AUTH_KEY PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_AUTH_KEY 7
|
||||
|
||||
typedef struct __mavlink_auth_key_t
|
||||
{
|
||||
char key[32]; ///< key
|
||||
} mavlink_auth_key_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32
|
||||
#define MAVLINK_MSG_ID_7_LEN 32
|
||||
|
||||
#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \
|
||||
"AUTH_KEY", \
|
||||
1, \
|
||||
{ { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a auth_key message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param key key
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
const char *key)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
|
||||
_mav_put_char_array(buf, 0, key, 32);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_auth_key_t packet;
|
||||
|
||||
mav_array_memcpy(packet.key, key, sizeof(char)*32);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a auth_key message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param key key
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
const char *key)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
|
||||
_mav_put_char_array(buf, 0, key, 32);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_auth_key_t packet;
|
||||
|
||||
mav_array_memcpy(packet.key, key, sizeof(char)*32);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a auth_key struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param auth_key C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
|
||||
{
|
||||
return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a auth_key message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param key key
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
|
||||
_mav_put_char_array(buf, 0, key, 32);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, 32);
|
||||
#else
|
||||
mavlink_auth_key_t packet;
|
||||
|
||||
mav_array_memcpy(packet.key, key, sizeof(char)*32);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, 32);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE AUTH_KEY UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field key from auth_key message
|
||||
*
|
||||
* @return key
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, key, 32, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a auth_key message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param auth_key C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mavlink_msg_auth_key_get_key(msg, auth_key->key);
|
||||
#else
|
||||
memcpy(auth_key, _MAV_PAYLOAD(msg), 32);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
// MESSAGE BOOT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_BOOT 1
|
||||
|
||||
typedef struct __mavlink_boot_t
|
||||
{
|
||||
uint32_t version; ///< The onboard software version
|
||||
} mavlink_boot_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_BOOT_LEN 4
|
||||
#define MAVLINK_MSG_ID_1_LEN 4
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_BOOT { \
|
||||
"BOOT", \
|
||||
1, \
|
||||
{ { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a boot message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param version The onboard software version
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint32_t version)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[4];
|
||||
_mav_put_uint32_t(buf, 0, version);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 4);
|
||||
#else
|
||||
mavlink_boot_t packet;
|
||||
packet.version = version;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_BOOT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a boot message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param version The onboard software version
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint32_t version)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[4];
|
||||
_mav_put_uint32_t(buf, 0, version);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 4);
|
||||
#else
|
||||
mavlink_boot_t packet;
|
||||
packet.version = version;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_BOOT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a boot struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param boot C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
|
||||
{
|
||||
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a boot message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param version The onboard software version
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[4];
|
||||
_mav_put_uint32_t(buf, 0, version);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4);
|
||||
#else
|
||||
mavlink_boot_t packet;
|
||||
packet.version = version;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE BOOT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field version from boot message
|
||||
*
|
||||
* @return The onboard software version
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a boot message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param boot C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
boot->version = mavlink_msg_boot_get_version(msg);
|
||||
#else
|
||||
memcpy(boot, _MAV_PAYLOAD(msg), 4);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,204 @@
|
||||
// MESSAGE CHANGE_OPERATOR_CONTROL PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
|
||||
|
||||
typedef struct __mavlink_change_operator_control_t
|
||||
{
|
||||
uint8_t target_system; ///< System the GCS requests control for
|
||||
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
|
||||
uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
|
||||
char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
|
||||
} mavlink_change_operator_control_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28
|
||||
#define MAVLINK_MSG_ID_5_LEN 28
|
||||
|
||||
#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \
|
||||
"CHANGE_OPERATOR_CONTROL", \
|
||||
4, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \
|
||||
{ "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \
|
||||
{ "version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \
|
||||
{ "passkey", NULL, MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a change_operator_control message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System the GCS requests control for
|
||||
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
|
||||
* @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
|
||||
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, control_request);
|
||||
_mav_put_uint8_t(buf, 2, version);
|
||||
_mav_put_char_array(buf, 3, passkey, 25);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 28);
|
||||
#else
|
||||
mavlink_change_operator_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.control_request = control_request;
|
||||
packet.version = version;
|
||||
mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a change_operator_control message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System the GCS requests control for
|
||||
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
|
||||
* @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
|
||||
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, control_request);
|
||||
_mav_put_uint8_t(buf, 2, version);
|
||||
_mav_put_char_array(buf, 3, passkey, 25);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 28);
|
||||
#else
|
||||
mavlink_change_operator_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.control_request = control_request;
|
||||
packet.version = version;
|
||||
mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 28);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a change_operator_control struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param change_operator_control C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
|
||||
{
|
||||
return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a change_operator_control message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System the GCS requests control for
|
||||
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
|
||||
* @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
|
||||
* @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[28];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, control_request);
|
||||
_mav_put_uint8_t(buf, 2, version);
|
||||
_mav_put_char_array(buf, 3, passkey, 25);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, 28);
|
||||
#else
|
||||
mavlink_change_operator_control_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.control_request = control_request;
|
||||
packet.version = version;
|
||||
mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, 28);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from change_operator_control message
|
||||
*
|
||||
* @return System the GCS requests control for
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field control_request from change_operator_control message
|
||||
*
|
||||
* @return 0: request control of this MAV, 1: Release control of this MAV
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field version from change_operator_control message
|
||||
*
|
||||
* @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field passkey from change_operator_control message
|
||||
*
|
||||
* @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, passkey, 25, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a change_operator_control message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param change_operator_control C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
|
||||
change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
|
||||
change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
|
||||
mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
|
||||
#else
|
||||
memcpy(change_operator_control, _MAV_PAYLOAD(msg), 28);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,188 @@
|
||||
// MESSAGE CHANGE_OPERATOR_CONTROL_ACK PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6
|
||||
|
||||
typedef struct __mavlink_change_operator_control_ack_t
|
||||
{
|
||||
uint8_t gcs_system_id; ///< ID of the GCS this message
|
||||
uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
|
||||
uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
|
||||
} mavlink_change_operator_control_ack_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3
|
||||
#define MAVLINK_MSG_ID_6_LEN 3
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \
|
||||
"CHANGE_OPERATOR_CONTROL_ACK", \
|
||||
3, \
|
||||
{ { "gcs_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \
|
||||
{ "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \
|
||||
{ "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a change_operator_control_ack message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param gcs_system_id ID of the GCS this message
|
||||
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
|
||||
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, gcs_system_id);
|
||||
_mav_put_uint8_t(buf, 1, control_request);
|
||||
_mav_put_uint8_t(buf, 2, ack);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_change_operator_control_ack_t packet;
|
||||
packet.gcs_system_id = gcs_system_id;
|
||||
packet.control_request = control_request;
|
||||
packet.ack = ack;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a change_operator_control_ack message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param gcs_system_id ID of the GCS this message
|
||||
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
|
||||
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t gcs_system_id,uint8_t control_request,uint8_t ack)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, gcs_system_id);
|
||||
_mav_put_uint8_t(buf, 1, control_request);
|
||||
_mav_put_uint8_t(buf, 2, ack);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_change_operator_control_ack_t packet;
|
||||
packet.gcs_system_id = gcs_system_id;
|
||||
packet.control_request = control_request;
|
||||
packet.ack = ack;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a change_operator_control_ack struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param change_operator_control_ack C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
|
||||
{
|
||||
return mavlink_msg_change_operator_control_ack_pack(system_id, component_id, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a change_operator_control_ack message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param gcs_system_id ID of the GCS this message
|
||||
* @param control_request 0: request control of this MAV, 1: Release control of this MAV
|
||||
* @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, gcs_system_id);
|
||||
_mav_put_uint8_t(buf, 1, control_request);
|
||||
_mav_put_uint8_t(buf, 2, ack);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, 3);
|
||||
#else
|
||||
mavlink_change_operator_control_ack_t packet;
|
||||
packet.gcs_system_id = gcs_system_id;
|
||||
packet.control_request = control_request;
|
||||
packet.ack = ack;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, 3);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field gcs_system_id from change_operator_control_ack message
|
||||
*
|
||||
* @return ID of the GCS this message
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field control_request from change_operator_control_ack message
|
||||
*
|
||||
* @return 0: request control of this MAV, 1: Release control of this MAV
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ack from change_operator_control_ack message
|
||||
*
|
||||
* @return 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a change_operator_control_ack message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param change_operator_control_ack C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg);
|
||||
change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg);
|
||||
change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg);
|
||||
#else
|
||||
memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), 3);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,298 @@
|
||||
// MESSAGE COMMAND PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_COMMAND 75
|
||||
|
||||
typedef struct __mavlink_command_t
|
||||
{
|
||||
uint8_t target_system; ///< System which should execute the command
|
||||
uint8_t target_component; ///< Component which should execute the command, 0 for all components
|
||||
uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
|
||||
uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
|
||||
float param1; ///< Parameter 1, as defined by MAV_CMD enum.
|
||||
float param2; ///< Parameter 2, as defined by MAV_CMD enum.
|
||||
float param3; ///< Parameter 3, as defined by MAV_CMD enum.
|
||||
float param4; ///< Parameter 4, as defined by MAV_CMD enum.
|
||||
} mavlink_command_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_COMMAND_LEN 20
|
||||
#define MAVLINK_MSG_ID_75_LEN 20
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_COMMAND { \
|
||||
"COMMAND", \
|
||||
8, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \
|
||||
{ "command", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \
|
||||
{ "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \
|
||||
{ "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \
|
||||
{ "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \
|
||||
{ "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \
|
||||
{ "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a command message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System which should execute the command
|
||||
* @param target_component Component which should execute the command, 0 for all components
|
||||
* @param command Command ID, as defined by MAV_CMD enum.
|
||||
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
|
||||
* @param param1 Parameter 1, as defined by MAV_CMD enum.
|
||||
* @param param2 Parameter 2, as defined by MAV_CMD enum.
|
||||
* @param param3 Parameter 3, as defined by MAV_CMD enum.
|
||||
* @param param4 Parameter 4, as defined by MAV_CMD enum.
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[20];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, command);
|
||||
_mav_put_uint8_t(buf, 3, confirmation);
|
||||
_mav_put_float(buf, 4, param1);
|
||||
_mav_put_float(buf, 8, param2);
|
||||
_mav_put_float(buf, 12, param3);
|
||||
_mav_put_float(buf, 16, param4);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 20);
|
||||
#else
|
||||
mavlink_command_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.command = command;
|
||||
packet.confirmation = confirmation;
|
||||
packet.param1 = param1;
|
||||
packet.param2 = param2;
|
||||
packet.param3 = param3;
|
||||
packet.param4 = param4;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 20);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_COMMAND;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a command message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System which should execute the command
|
||||
* @param target_component Component which should execute the command, 0 for all components
|
||||
* @param command Command ID, as defined by MAV_CMD enum.
|
||||
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
|
||||
* @param param1 Parameter 1, as defined by MAV_CMD enum.
|
||||
* @param param2 Parameter 2, as defined by MAV_CMD enum.
|
||||
* @param param3 Parameter 3, as defined by MAV_CMD enum.
|
||||
* @param param4 Parameter 4, as defined by MAV_CMD enum.
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[20];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, command);
|
||||
_mav_put_uint8_t(buf, 3, confirmation);
|
||||
_mav_put_float(buf, 4, param1);
|
||||
_mav_put_float(buf, 8, param2);
|
||||
_mav_put_float(buf, 12, param3);
|
||||
_mav_put_float(buf, 16, param4);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 20);
|
||||
#else
|
||||
mavlink_command_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.command = command;
|
||||
packet.confirmation = confirmation;
|
||||
packet.param1 = param1;
|
||||
packet.param2 = param2;
|
||||
packet.param3 = param3;
|
||||
packet.param4 = param4;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 20);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_COMMAND;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a command struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param command C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
|
||||
{
|
||||
return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a command message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System which should execute the command
|
||||
* @param target_component Component which should execute the command, 0 for all components
|
||||
* @param command Command ID, as defined by MAV_CMD enum.
|
||||
* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
|
||||
* @param param1 Parameter 1, as defined by MAV_CMD enum.
|
||||
* @param param2 Parameter 2, as defined by MAV_CMD enum.
|
||||
* @param param3 Parameter 3, as defined by MAV_CMD enum.
|
||||
* @param param4 Parameter 4, as defined by MAV_CMD enum.
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[20];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, command);
|
||||
_mav_put_uint8_t(buf, 3, confirmation);
|
||||
_mav_put_float(buf, 4, param1);
|
||||
_mav_put_float(buf, 8, param2);
|
||||
_mav_put_float(buf, 12, param3);
|
||||
_mav_put_float(buf, 16, param4);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20);
|
||||
#else
|
||||
mavlink_command_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.command = command;
|
||||
packet.confirmation = confirmation;
|
||||
packet.param1 = param1;
|
||||
packet.param2 = param2;
|
||||
packet.param3 = param3;
|
||||
packet.param4 = param4;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE COMMAND UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from command message
|
||||
*
|
||||
* @return System which should execute the command
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from command message
|
||||
*
|
||||
* @return Component which should execute the command, 0 for all components
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field command from command message
|
||||
*
|
||||
* @return Command ID, as defined by MAV_CMD enum.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field confirmation from command message
|
||||
*
|
||||
* @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param1 from command message
|
||||
*
|
||||
* @return Parameter 1, as defined by MAV_CMD enum.
|
||||
*/
|
||||
static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param2 from command message
|
||||
*
|
||||
* @return Parameter 2, as defined by MAV_CMD enum.
|
||||
*/
|
||||
static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param3 from command message
|
||||
*
|
||||
* @return Parameter 3, as defined by MAV_CMD enum.
|
||||
*/
|
||||
static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param4 from command message
|
||||
*
|
||||
* @return Parameter 4, as defined by MAV_CMD enum.
|
||||
*/
|
||||
static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a command message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param command C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
command->target_system = mavlink_msg_command_get_target_system(msg);
|
||||
command->target_component = mavlink_msg_command_get_target_component(msg);
|
||||
command->command = mavlink_msg_command_get_command(msg);
|
||||
command->confirmation = mavlink_msg_command_get_confirmation(msg);
|
||||
command->param1 = mavlink_msg_command_get_param1(msg);
|
||||
command->param2 = mavlink_msg_command_get_param2(msg);
|
||||
command->param3 = mavlink_msg_command_get_param3(msg);
|
||||
command->param4 = mavlink_msg_command_get_param4(msg);
|
||||
#else
|
||||
memcpy(command, _MAV_PAYLOAD(msg), 20);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE COMMAND_ACK PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_COMMAND_ACK 76
|
||||
|
||||
typedef struct __mavlink_command_ack_t
|
||||
{
|
||||
float command; ///< Current airspeed in m/s
|
||||
float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
|
||||
} mavlink_command_ack_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
|
||||
#define MAVLINK_MSG_ID_76_LEN 8
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
|
||||
"COMMAND_ACK", \
|
||||
2, \
|
||||
{ { "command", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
|
||||
{ "result", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a command_ack message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param command Current airspeed in m/s
|
||||
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float command, float result)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_float(buf, 0, command);
|
||||
_mav_put_float(buf, 4, result);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_command_ack_t packet;
|
||||
packet.command = command;
|
||||
packet.result = result;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a command_ack message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param command Current airspeed in m/s
|
||||
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float command,float result)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_float(buf, 0, command);
|
||||
_mav_put_float(buf, 4, result);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_command_ack_t packet;
|
||||
packet.command = command;
|
||||
packet.result = result;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a command_ack struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param command_ack C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
|
||||
{
|
||||
return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a command_ack message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param command Current airspeed in m/s
|
||||
* @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_float(buf, 0, command);
|
||||
_mav_put_float(buf, 4, result);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8);
|
||||
#else
|
||||
mavlink_command_ack_t packet;
|
||||
packet.command = command;
|
||||
packet.result = result;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE COMMAND_ACK UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field command from command_ack message
|
||||
*
|
||||
* @return Current airspeed in m/s
|
||||
*/
|
||||
static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field result from command_ack message
|
||||
*
|
||||
* @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
|
||||
*/
|
||||
static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a command_ack message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param command_ack C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
command_ack->command = mavlink_msg_command_ack_get_command(msg);
|
||||
command_ack->result = mavlink_msg_command_ack_get_result(msg);
|
||||
#else
|
||||
memcpy(command_ack, _MAV_PAYLOAD(msg), 8);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,298 @@
|
||||
// MESSAGE CONTROL_STATUS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_CONTROL_STATUS 52
|
||||
|
||||
typedef struct __mavlink_control_status_t
|
||||
{
|
||||
uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
|
||||
uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
|
||||
uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
|
||||
uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
|
||||
uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
|
||||
uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
|
||||
uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
|
||||
uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
|
||||
} mavlink_control_status_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_CONTROL_STATUS_LEN 8
|
||||
#define MAVLINK_MSG_ID_52_LEN 8
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_CONTROL_STATUS { \
|
||||
"CONTROL_STATUS", \
|
||||
8, \
|
||||
{ { "position_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_control_status_t, position_fix) }, \
|
||||
{ "vision_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_control_status_t, vision_fix) }, \
|
||||
{ "gps_fix", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_control_status_t, gps_fix) }, \
|
||||
{ "ahrs_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_control_status_t, ahrs_health) }, \
|
||||
{ "control_att", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_control_status_t, control_att) }, \
|
||||
{ "control_pos_xy", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_control_status_t, control_pos_xy) }, \
|
||||
{ "control_pos_z", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_control_status_t, control_pos_z) }, \
|
||||
{ "control_pos_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_control_status_t, control_pos_yaw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a control_status message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
|
||||
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
|
||||
* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
|
||||
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
|
||||
* @param control_att 0: Attitude control disabled, 1: enabled
|
||||
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
|
||||
* @param control_pos_z 0: Z position control disabled, 1: enabled
|
||||
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, position_fix);
|
||||
_mav_put_uint8_t(buf, 1, vision_fix);
|
||||
_mav_put_uint8_t(buf, 2, gps_fix);
|
||||
_mav_put_uint8_t(buf, 3, ahrs_health);
|
||||
_mav_put_uint8_t(buf, 4, control_att);
|
||||
_mav_put_uint8_t(buf, 5, control_pos_xy);
|
||||
_mav_put_uint8_t(buf, 6, control_pos_z);
|
||||
_mav_put_uint8_t(buf, 7, control_pos_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_control_status_t packet;
|
||||
packet.position_fix = position_fix;
|
||||
packet.vision_fix = vision_fix;
|
||||
packet.gps_fix = gps_fix;
|
||||
packet.ahrs_health = ahrs_health;
|
||||
packet.control_att = control_att;
|
||||
packet.control_pos_xy = control_pos_xy;
|
||||
packet.control_pos_z = control_pos_z;
|
||||
packet.control_pos_yaw = control_pos_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a control_status message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
|
||||
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
|
||||
* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
|
||||
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
|
||||
* @param control_att 0: Attitude control disabled, 1: enabled
|
||||
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
|
||||
* @param control_pos_z 0: Z position control disabled, 1: enabled
|
||||
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t position_fix,uint8_t vision_fix,uint8_t gps_fix,uint8_t ahrs_health,uint8_t control_att,uint8_t control_pos_xy,uint8_t control_pos_z,uint8_t control_pos_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, position_fix);
|
||||
_mav_put_uint8_t(buf, 1, vision_fix);
|
||||
_mav_put_uint8_t(buf, 2, gps_fix);
|
||||
_mav_put_uint8_t(buf, 3, ahrs_health);
|
||||
_mav_put_uint8_t(buf, 4, control_att);
|
||||
_mav_put_uint8_t(buf, 5, control_pos_xy);
|
||||
_mav_put_uint8_t(buf, 6, control_pos_z);
|
||||
_mav_put_uint8_t(buf, 7, control_pos_yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 8);
|
||||
#else
|
||||
mavlink_control_status_t packet;
|
||||
packet.position_fix = position_fix;
|
||||
packet.vision_fix = vision_fix;
|
||||
packet.gps_fix = gps_fix;
|
||||
packet.ahrs_health = ahrs_health;
|
||||
packet.control_att = control_att;
|
||||
packet.control_pos_xy = control_pos_xy;
|
||||
packet.control_pos_z = control_pos_z;
|
||||
packet.control_pos_yaw = control_pos_yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 8);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a control_status struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param control_status C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
|
||||
{
|
||||
return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a control_status message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
|
||||
* @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
|
||||
* @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
|
||||
* @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
|
||||
* @param control_att 0: Attitude control disabled, 1: enabled
|
||||
* @param control_pos_xy 0: X, Y position control disabled, 1: enabled
|
||||
* @param control_pos_z 0: Z position control disabled, 1: enabled
|
||||
* @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[8];
|
||||
_mav_put_uint8_t(buf, 0, position_fix);
|
||||
_mav_put_uint8_t(buf, 1, vision_fix);
|
||||
_mav_put_uint8_t(buf, 2, gps_fix);
|
||||
_mav_put_uint8_t(buf, 3, ahrs_health);
|
||||
_mav_put_uint8_t(buf, 4, control_att);
|
||||
_mav_put_uint8_t(buf, 5, control_pos_xy);
|
||||
_mav_put_uint8_t(buf, 6, control_pos_z);
|
||||
_mav_put_uint8_t(buf, 7, control_pos_yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, buf, 8);
|
||||
#else
|
||||
mavlink_control_status_t packet;
|
||||
packet.position_fix = position_fix;
|
||||
packet.vision_fix = vision_fix;
|
||||
packet.gps_fix = gps_fix;
|
||||
packet.ahrs_health = ahrs_health;
|
||||
packet.control_att = control_att;
|
||||
packet.control_pos_xy = control_pos_xy;
|
||||
packet.control_pos_z = control_pos_z;
|
||||
packet.control_pos_yaw = control_pos_yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_STATUS, (const char *)&packet, 8);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE CONTROL_STATUS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field position_fix from control_status message
|
||||
*
|
||||
* @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vision_fix from control_status message
|
||||
*
|
||||
* @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field gps_fix from control_status message
|
||||
*
|
||||
* @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ahrs_health from control_status message
|
||||
*
|
||||
* @return Attitude estimation health: 0: poor, 255: excellent
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field control_att from control_status message
|
||||
*
|
||||
* @return 0: Attitude control disabled, 1: enabled
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field control_pos_xy from control_status message
|
||||
*
|
||||
* @return 0: X, Y position control disabled, 1: enabled
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field control_pos_z from control_status message
|
||||
*
|
||||
* @return 0: Z position control disabled, 1: enabled
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field control_pos_yaw from control_status message
|
||||
*
|
||||
* @return 0: Yaw angle control disabled, 1: enabled
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 7);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a control_status message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param control_status C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
|
||||
control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
|
||||
control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
|
||||
control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
|
||||
control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
|
||||
control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
|
||||
control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
|
||||
control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
|
||||
#else
|
||||
memcpy(control_status, _MAV_PAYLOAD(msg), 8);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE DEBUG PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_DEBUG 255
|
||||
|
||||
typedef struct __mavlink_debug_t
|
||||
{
|
||||
uint8_t ind; ///< index of debug variable
|
||||
float value; ///< DEBUG value
|
||||
} mavlink_debug_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_DEBUG_LEN 5
|
||||
#define MAVLINK_MSG_ID_255_LEN 5
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_DEBUG { \
|
||||
"DEBUG", \
|
||||
2, \
|
||||
{ { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_debug_t, ind) }, \
|
||||
{ "value", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_debug_t, value) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a debug message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param ind index of debug variable
|
||||
* @param value DEBUG value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t ind, float value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[5];
|
||||
_mav_put_uint8_t(buf, 0, ind);
|
||||
_mav_put_float(buf, 1, value);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 5);
|
||||
#else
|
||||
mavlink_debug_t packet;
|
||||
packet.ind = ind;
|
||||
packet.value = value;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DEBUG;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a debug message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param ind index of debug variable
|
||||
* @param value DEBUG value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t ind,float value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[5];
|
||||
_mav_put_uint8_t(buf, 0, ind);
|
||||
_mav_put_float(buf, 1, value);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 5);
|
||||
#else
|
||||
mavlink_debug_t packet;
|
||||
packet.ind = ind;
|
||||
packet.value = value;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DEBUG;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a debug struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param debug C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
|
||||
{
|
||||
return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a debug message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param ind index of debug variable
|
||||
* @param value DEBUG value
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[5];
|
||||
_mav_put_uint8_t(buf, 0, ind);
|
||||
_mav_put_float(buf, 1, value);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 5);
|
||||
#else
|
||||
mavlink_debug_t packet;
|
||||
packet.ind = ind;
|
||||
packet.value = value;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 5);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE DEBUG UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field ind from debug message
|
||||
*
|
||||
* @return index of debug variable
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field value from debug message
|
||||
*
|
||||
* @return DEBUG value
|
||||
*/
|
||||
static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a debug message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param debug C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
debug->ind = mavlink_msg_debug_get_ind(msg);
|
||||
debug->value = mavlink_msg_debug_get_value(msg);
|
||||
#else
|
||||
memcpy(debug, _MAV_PAYLOAD(msg), 5);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,226 @@
|
||||
// MESSAGE DEBUG_VECT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_DEBUG_VECT 251
|
||||
|
||||
typedef struct __mavlink_debug_vect_t
|
||||
{
|
||||
char name[10]; ///< Name
|
||||
uint64_t usec; ///< Timestamp
|
||||
float x; ///< x
|
||||
float y; ///< y
|
||||
float z; ///< z
|
||||
} mavlink_debug_vect_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
|
||||
#define MAVLINK_MSG_ID_251_LEN 30
|
||||
|
||||
#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
|
||||
"DEBUG_VECT", \
|
||||
5, \
|
||||
{ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_debug_vect_t, name) }, \
|
||||
{ "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 10, offsetof(mavlink_debug_vect_t, usec) }, \
|
||||
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_debug_vect_t, x) }, \
|
||||
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_debug_vect_t, y) }, \
|
||||
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 26, offsetof(mavlink_debug_vect_t, z) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a debug_vect message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param name Name
|
||||
* @param usec Timestamp
|
||||
* @param x x
|
||||
* @param y y
|
||||
* @param z z
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
const char *name, uint64_t usec, float x, float y, float z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[30];
|
||||
_mav_put_uint64_t(buf, 10, usec);
|
||||
_mav_put_float(buf, 18, x);
|
||||
_mav_put_float(buf, 22, y);
|
||||
_mav_put_float(buf, 26, z);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 30);
|
||||
#else
|
||||
mavlink_debug_vect_t packet;
|
||||
packet.usec = usec;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 30);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 30);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a debug_vect message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param name Name
|
||||
* @param usec Timestamp
|
||||
* @param x x
|
||||
* @param y y
|
||||
* @param z z
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
const char *name,uint64_t usec,float x,float y,float z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[30];
|
||||
_mav_put_uint64_t(buf, 10, usec);
|
||||
_mav_put_float(buf, 18, x);
|
||||
_mav_put_float(buf, 22, y);
|
||||
_mav_put_float(buf, 26, z);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 30);
|
||||
#else
|
||||
mavlink_debug_vect_t packet;
|
||||
packet.usec = usec;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 30);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 30);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a debug_vect struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param debug_vect C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
|
||||
{
|
||||
return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a debug_vect message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param name Name
|
||||
* @param usec Timestamp
|
||||
* @param x x
|
||||
* @param y y
|
||||
* @param z z
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t usec, float x, float y, float z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[30];
|
||||
_mav_put_uint64_t(buf, 10, usec);
|
||||
_mav_put_float(buf, 18, x);
|
||||
_mav_put_float(buf, 22, y);
|
||||
_mav_put_float(buf, 26, z);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, 30);
|
||||
#else
|
||||
mavlink_debug_vect_t packet;
|
||||
packet.usec = usec;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, 30);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE DEBUG_VECT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field name from debug_vect message
|
||||
*
|
||||
* @return Name
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, name, 10, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field usec from debug_vect message
|
||||
*
|
||||
* @return Timestamp
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field x from debug_vect message
|
||||
*
|
||||
* @return x
|
||||
*/
|
||||
static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from debug_vect message
|
||||
*
|
||||
* @return y
|
||||
*/
|
||||
static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 22);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from debug_vect message
|
||||
*
|
||||
* @return z
|
||||
*/
|
||||
static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a debug_vect message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param debug_vect C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
|
||||
debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg);
|
||||
debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
|
||||
debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
|
||||
debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
|
||||
#else
|
||||
memcpy(debug_vect, _MAV_PAYLOAD(msg), 30);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,276 @@
|
||||
// MESSAGE GLOBAL_POSITION PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION 33
|
||||
|
||||
typedef struct __mavlink_global_position_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since unix epoch)
|
||||
float lat; ///< Latitude, in degrees
|
||||
float lon; ///< Longitude, in degrees
|
||||
float alt; ///< Absolute altitude, in meters
|
||||
float vx; ///< X Speed (in Latitude direction, positive: going north)
|
||||
float vy; ///< Y Speed (in Longitude direction, positive: going east)
|
||||
float vz; ///< Z Speed (in Altitude direction, positive: going up)
|
||||
} mavlink_global_position_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_LEN 32
|
||||
#define MAVLINK_MSG_ID_33_LEN 32
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION { \
|
||||
"GLOBAL_POSITION", \
|
||||
7, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_t, usec) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_position_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_position_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_position_t, alt) }, \
|
||||
{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_position_t, vx) }, \
|
||||
{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_t, vy) }, \
|
||||
{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_t, vz) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since unix epoch)
|
||||
* @param lat Latitude, in degrees
|
||||
* @param lon Longitude, in degrees
|
||||
* @param alt Absolute altitude, in meters
|
||||
* @param vx X Speed (in Latitude direction, positive: going north)
|
||||
* @param vy Y Speed (in Longitude direction, positive: going east)
|
||||
* @param vz Z Speed (in Altitude direction, positive: going up)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, lat);
|
||||
_mav_put_float(buf, 12, lon);
|
||||
_mav_put_float(buf, 16, alt);
|
||||
_mav_put_float(buf, 20, vx);
|
||||
_mav_put_float(buf, 24, vy);
|
||||
_mav_put_float(buf, 28, vz);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_global_position_t packet;
|
||||
packet.usec = usec;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since unix epoch)
|
||||
* @param lat Latitude, in degrees
|
||||
* @param lon Longitude, in degrees
|
||||
* @param alt Absolute altitude, in meters
|
||||
* @param vx X Speed (in Latitude direction, positive: going north)
|
||||
* @param vy Y Speed (in Longitude direction, positive: going east)
|
||||
* @param vz Z Speed (in Altitude direction, positive: going up)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,float lat,float lon,float alt,float vx,float vy,float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, lat);
|
||||
_mav_put_float(buf, 12, lon);
|
||||
_mav_put_float(buf, 16, alt);
|
||||
_mav_put_float(buf, 20, vx);
|
||||
_mav_put_float(buf, 24, vy);
|
||||
_mav_put_float(buf, 28, vz);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_global_position_t packet;
|
||||
packet.usec = usec;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a global_position struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param global_position C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_t* global_position)
|
||||
{
|
||||
return mavlink_msg_global_position_pack(system_id, component_id, msg, global_position->usec, global_position->lat, global_position->lon, global_position->alt, global_position->vx, global_position->vy, global_position->vz);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a global_position message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since unix epoch)
|
||||
* @param lat Latitude, in degrees
|
||||
* @param lon Longitude, in degrees
|
||||
* @param alt Absolute altitude, in meters
|
||||
* @param vx X Speed (in Latitude direction, positive: going north)
|
||||
* @param vy Y Speed (in Longitude direction, positive: going east)
|
||||
* @param vz Z Speed (in Altitude direction, positive: going up)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_global_position_send(mavlink_channel_t chan, uint64_t usec, float lat, float lon, float alt, float vx, float vy, float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, lat);
|
||||
_mav_put_float(buf, 12, lon);
|
||||
_mav_put_float(buf, 16, alt);
|
||||
_mav_put_float(buf, 20, vx);
|
||||
_mav_put_float(buf, 24, vy);
|
||||
_mav_put_float(buf, 28, vz);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, buf, 32);
|
||||
#else
|
||||
mavlink_global_position_t packet;
|
||||
packet.usec = usec;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION, (const char *)&packet, 32);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GLOBAL_POSITION UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from global_position message
|
||||
*
|
||||
* @return Timestamp (microseconds since unix epoch)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_global_position_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from global_position message
|
||||
*
|
||||
* @return Latitude, in degrees
|
||||
*/
|
||||
static inline float mavlink_msg_global_position_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lon from global_position message
|
||||
*
|
||||
* @return Longitude, in degrees
|
||||
*/
|
||||
static inline float mavlink_msg_global_position_get_lon(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt from global_position message
|
||||
*
|
||||
* @return Absolute altitude, in meters
|
||||
*/
|
||||
static inline float mavlink_msg_global_position_get_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from global_position message
|
||||
*
|
||||
* @return X Speed (in Latitude direction, positive: going north)
|
||||
*/
|
||||
static inline float mavlink_msg_global_position_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from global_position message
|
||||
*
|
||||
* @return Y Speed (in Longitude direction, positive: going east)
|
||||
*/
|
||||
static inline float mavlink_msg_global_position_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from global_position message
|
||||
*
|
||||
* @return Z Speed (in Altitude direction, positive: going up)
|
||||
*/
|
||||
static inline float mavlink_msg_global_position_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a global_position message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param global_position C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_global_position_decode(const mavlink_message_t* msg, mavlink_global_position_t* global_position)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
global_position->usec = mavlink_msg_global_position_get_usec(msg);
|
||||
global_position->lat = mavlink_msg_global_position_get_lat(msg);
|
||||
global_position->lon = mavlink_msg_global_position_get_lon(msg);
|
||||
global_position->alt = mavlink_msg_global_position_get_alt(msg);
|
||||
global_position->vx = mavlink_msg_global_position_get_vx(msg);
|
||||
global_position->vy = mavlink_msg_global_position_get_vy(msg);
|
||||
global_position->vz = mavlink_msg_global_position_get_vz(msg);
|
||||
#else
|
||||
memcpy(global_position, _MAV_PAYLOAD(msg), 32);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE GLOBAL_POSITION_INT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73
|
||||
|
||||
typedef struct __mavlink_global_position_int_t
|
||||
{
|
||||
int32_t lat; ///< Latitude, expressed as * 1E7
|
||||
int32_t lon; ///< Longitude, expressed as * 1E7
|
||||
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
|
||||
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
|
||||
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
} mavlink_global_position_int_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 18
|
||||
#define MAVLINK_MSG_ID_73_LEN 18
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
|
||||
"GLOBAL_POSITION_INT", \
|
||||
6, \
|
||||
{ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_int_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, alt) }, \
|
||||
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_int_t, vx) }, \
|
||||
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_global_position_int_t, vy) }, \
|
||||
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_global_position_int_t, vz) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position_int message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param lat Latitude, expressed as * 1E7
|
||||
* @param lon Longitude, expressed as * 1E7
|
||||
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
||||
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||||
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_int32_t(buf, 0, lat);
|
||||
_mav_put_int32_t(buf, 4, lon);
|
||||
_mav_put_int32_t(buf, 8, alt);
|
||||
_mav_put_int16_t(buf, 12, vx);
|
||||
_mav_put_int16_t(buf, 14, vy);
|
||||
_mav_put_int16_t(buf, 16, vz);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a global_position_int message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param lat Latitude, expressed as * 1E7
|
||||
* @param lon Longitude, expressed as * 1E7
|
||||
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
||||
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||||
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_int32_t(buf, 0, lat);
|
||||
_mav_put_int32_t(buf, 4, lon);
|
||||
_mav_put_int32_t(buf, 8, alt);
|
||||
_mav_put_int16_t(buf, 12, vx);
|
||||
_mav_put_int16_t(buf, 14, vy);
|
||||
_mav_put_int16_t(buf, 16, vz);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a global_position_int struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param global_position_int C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a global_position_int message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param lat Latitude, expressed as * 1E7
|
||||
* @param lon Longitude, expressed as * 1E7
|
||||
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
||||
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||||
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_int32_t(buf, 0, lat);
|
||||
_mav_put_int32_t(buf, 4, lon);
|
||||
_mav_put_int32_t(buf, 8, alt);
|
||||
_mav_put_int16_t(buf, 12, vx);
|
||||
_mav_put_int16_t(buf, 14, vy);
|
||||
_mav_put_int16_t(buf, 16, vz);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, 18);
|
||||
#else
|
||||
mavlink_global_position_int_t packet;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, 18);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GLOBAL_POSITION_INT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field lat from global_position_int message
|
||||
*
|
||||
* @return Latitude, expressed as * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lon from global_position_int message
|
||||
*
|
||||
* @return Longitude, expressed as * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt from global_position_int message
|
||||
*
|
||||
* @return Altitude in meters, expressed as * 1000 (millimeters)
|
||||
*/
|
||||
static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from global_position_int message
|
||||
*
|
||||
* @return Ground X Speed (Latitude), expressed as m/s * 100
|
||||
*/
|
||||
static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from global_position_int message
|
||||
*
|
||||
* @return Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
*/
|
||||
static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from global_position_int message
|
||||
*
|
||||
* @return Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
*/
|
||||
static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a global_position_int message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param global_position_int C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
|
||||
global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
|
||||
global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
|
||||
global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
|
||||
global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
|
||||
global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
|
||||
#else
|
||||
memcpy(global_position_int, _MAV_PAYLOAD(msg), 18);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,188 @@
|
||||
// MESSAGE GPS_LOCAL_ORIGIN_SET PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET 49
|
||||
|
||||
typedef struct __mavlink_gps_local_origin_set_t
|
||||
{
|
||||
int32_t latitude; ///< Latitude (WGS84), expressed as * 1E7
|
||||
int32_t longitude; ///< Longitude (WGS84), expressed as * 1E7
|
||||
int32_t altitude; ///< Altitude(WGS84), expressed as * 1000
|
||||
} mavlink_gps_local_origin_set_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET_LEN 12
|
||||
#define MAVLINK_MSG_ID_49_LEN 12
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GPS_LOCAL_ORIGIN_SET { \
|
||||
"GPS_LOCAL_ORIGIN_SET", \
|
||||
3, \
|
||||
{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_local_origin_set_t, latitude) }, \
|
||||
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_local_origin_set_t, longitude) }, \
|
||||
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_local_origin_set_t, altitude) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_local_origin_set message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param latitude Latitude (WGS84), expressed as * 1E7
|
||||
* @param longitude Longitude (WGS84), expressed as * 1E7
|
||||
* @param altitude Altitude(WGS84), expressed as * 1000
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_local_origin_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
int32_t latitude, int32_t longitude, int32_t altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_int32_t(buf, 0, latitude);
|
||||
_mav_put_int32_t(buf, 4, longitude);
|
||||
_mav_put_int32_t(buf, 8, altitude);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 12);
|
||||
#else
|
||||
mavlink_gps_local_origin_set_t packet;
|
||||
packet.latitude = latitude;
|
||||
packet.longitude = longitude;
|
||||
packet.altitude = altitude;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_local_origin_set message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param latitude Latitude (WGS84), expressed as * 1E7
|
||||
* @param longitude Longitude (WGS84), expressed as * 1E7
|
||||
* @param altitude Altitude(WGS84), expressed as * 1000
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_local_origin_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
int32_t latitude,int32_t longitude,int32_t altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_int32_t(buf, 0, latitude);
|
||||
_mav_put_int32_t(buf, 4, longitude);
|
||||
_mav_put_int32_t(buf, 8, altitude);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 12);
|
||||
#else
|
||||
mavlink_gps_local_origin_set_t packet;
|
||||
packet.latitude = latitude;
|
||||
packet.longitude = longitude;
|
||||
packet.altitude = altitude;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 12);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a gps_local_origin_set struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param gps_local_origin_set C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_local_origin_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_local_origin_set_t* gps_local_origin_set)
|
||||
{
|
||||
return mavlink_msg_gps_local_origin_set_pack(system_id, component_id, msg, gps_local_origin_set->latitude, gps_local_origin_set->longitude, gps_local_origin_set->altitude);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a gps_local_origin_set message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param latitude Latitude (WGS84), expressed as * 1E7
|
||||
* @param longitude Longitude (WGS84), expressed as * 1E7
|
||||
* @param altitude Altitude(WGS84), expressed as * 1000
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_gps_local_origin_set_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[12];
|
||||
_mav_put_int32_t(buf, 0, latitude);
|
||||
_mav_put_int32_t(buf, 4, longitude);
|
||||
_mav_put_int32_t(buf, 8, altitude);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, buf, 12);
|
||||
#else
|
||||
mavlink_gps_local_origin_set_t packet;
|
||||
packet.latitude = latitude;
|
||||
packet.longitude = longitude;
|
||||
packet.altitude = altitude;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, (const char *)&packet, 12);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GPS_LOCAL_ORIGIN_SET UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field latitude from gps_local_origin_set message
|
||||
*
|
||||
* @return Latitude (WGS84), expressed as * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_local_origin_set_get_latitude(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field longitude from gps_local_origin_set message
|
||||
*
|
||||
* @return Longitude (WGS84), expressed as * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_local_origin_set_get_longitude(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field altitude from gps_local_origin_set message
|
||||
*
|
||||
* @return Altitude(WGS84), expressed as * 1000
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_local_origin_set_get_altitude(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a gps_local_origin_set message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param gps_local_origin_set C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_gps_local_origin_set_decode(const mavlink_message_t* msg, mavlink_gps_local_origin_set_t* gps_local_origin_set)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
gps_local_origin_set->latitude = mavlink_msg_gps_local_origin_set_get_latitude(msg);
|
||||
gps_local_origin_set->longitude = mavlink_msg_gps_local_origin_set_get_longitude(msg);
|
||||
gps_local_origin_set->altitude = mavlink_msg_gps_local_origin_set_get_altitude(msg);
|
||||
#else
|
||||
memcpy(gps_local_origin_set, _MAV_PAYLOAD(msg), 12);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
// MESSAGE GPS_RAW PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_RAW 32
|
||||
|
||||
typedef struct __mavlink_gps_raw_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
float lat; ///< Latitude in degrees
|
||||
float lon; ///< Longitude in degrees
|
||||
float alt; ///< Altitude in meters
|
||||
float eph; ///< GPS HDOP
|
||||
float epv; ///< GPS VDOP
|
||||
float v; ///< GPS ground speed
|
||||
float hdg; ///< Compass heading in degrees, 0..360 degrees
|
||||
} mavlink_gps_raw_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_RAW_LEN 37
|
||||
#define MAVLINK_MSG_ID_32_LEN 37
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GPS_RAW { \
|
||||
"GPS_RAW", \
|
||||
9, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \
|
||||
{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \
|
||||
{ "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \
|
||||
{ "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \
|
||||
{ "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \
|
||||
{ "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_raw message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
* @param lat Latitude in degrees
|
||||
* @param lon Longitude in degrees
|
||||
* @param alt Altitude in meters
|
||||
* @param eph GPS HDOP
|
||||
* @param epv GPS VDOP
|
||||
* @param v GPS ground speed
|
||||
* @param hdg Compass heading in degrees, 0..360 degrees
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[37];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_uint8_t(buf, 8, fix_type);
|
||||
_mav_put_float(buf, 9, lat);
|
||||
_mav_put_float(buf, 13, lon);
|
||||
_mav_put_float(buf, 17, alt);
|
||||
_mav_put_float(buf, 21, eph);
|
||||
_mav_put_float(buf, 25, epv);
|
||||
_mav_put_float(buf, 29, v);
|
||||
_mav_put_float(buf, 33, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 37);
|
||||
#else
|
||||
mavlink_gps_raw_t packet;
|
||||
packet.usec = usec;
|
||||
packet.fix_type = fix_type;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.eph = eph;
|
||||
packet.epv = epv;
|
||||
packet.v = v;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 37);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_raw message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
* @param lat Latitude in degrees
|
||||
* @param lon Longitude in degrees
|
||||
* @param alt Altitude in meters
|
||||
* @param eph GPS HDOP
|
||||
* @param epv GPS VDOP
|
||||
* @param v GPS ground speed
|
||||
* @param hdg Compass heading in degrees, 0..360 degrees
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[37];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_uint8_t(buf, 8, fix_type);
|
||||
_mav_put_float(buf, 9, lat);
|
||||
_mav_put_float(buf, 13, lon);
|
||||
_mav_put_float(buf, 17, alt);
|
||||
_mav_put_float(buf, 21, eph);
|
||||
_mav_put_float(buf, 25, epv);
|
||||
_mav_put_float(buf, 29, v);
|
||||
_mav_put_float(buf, 33, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 37);
|
||||
#else
|
||||
mavlink_gps_raw_t packet;
|
||||
packet.usec = usec;
|
||||
packet.fix_type = fix_type;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.eph = eph;
|
||||
packet.epv = epv;
|
||||
packet.v = v;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_RAW;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a gps_raw struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param gps_raw C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw)
|
||||
{
|
||||
return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a gps_raw message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
* @param lat Latitude in degrees
|
||||
* @param lon Longitude in degrees
|
||||
* @param alt Altitude in meters
|
||||
* @param eph GPS HDOP
|
||||
* @param epv GPS VDOP
|
||||
* @param v GPS ground speed
|
||||
* @param hdg Compass heading in degrees, 0..360 degrees
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[37];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_uint8_t(buf, 8, fix_type);
|
||||
_mav_put_float(buf, 9, lat);
|
||||
_mav_put_float(buf, 13, lon);
|
||||
_mav_put_float(buf, 17, alt);
|
||||
_mav_put_float(buf, 21, eph);
|
||||
_mav_put_float(buf, 25, epv);
|
||||
_mav_put_float(buf, 29, v);
|
||||
_mav_put_float(buf, 33, hdg);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37);
|
||||
#else
|
||||
mavlink_gps_raw_t packet;
|
||||
packet.usec = usec;
|
||||
packet.fix_type = fix_type;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.eph = eph;
|
||||
packet.epv = epv;
|
||||
packet.v = v;
|
||||
packet.hdg = hdg;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GPS_RAW UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from gps_raw message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field fix_type from gps_raw message
|
||||
*
|
||||
* @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from gps_raw message
|
||||
*
|
||||
* @return Latitude in degrees
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lon from gps_raw message
|
||||
*
|
||||
* @return Longitude in degrees
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt from gps_raw message
|
||||
*
|
||||
* @return Altitude in meters
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field eph from gps_raw message
|
||||
*
|
||||
* @return GPS HDOP
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field epv from gps_raw message
|
||||
*
|
||||
* @return GPS VDOP
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 25);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field v from gps_raw message
|
||||
*
|
||||
* @return GPS ground speed
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 29);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field hdg from gps_raw message
|
||||
*
|
||||
* @return Compass heading in degrees, 0..360 degrees
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 33);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a gps_raw message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param gps_raw C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg);
|
||||
gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg);
|
||||
gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg);
|
||||
gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg);
|
||||
gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg);
|
||||
gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg);
|
||||
gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg);
|
||||
gps_raw->v = mavlink_msg_gps_raw_get_v(msg);
|
||||
gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg);
|
||||
#else
|
||||
memcpy(gps_raw, _MAV_PAYLOAD(msg), 37);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
// MESSAGE GPS_RAW_INT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_RAW_INT 25
|
||||
|
||||
typedef struct __mavlink_gps_raw_int_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
int32_t lat; ///< Latitude in 1E7 degrees
|
||||
int32_t lon; ///< Longitude in 1E7 degrees
|
||||
int32_t alt; ///< Altitude in 1E3 meters (millimeters)
|
||||
float eph; ///< GPS HDOP
|
||||
float epv; ///< GPS VDOP
|
||||
float v; ///< GPS ground speed (m/s)
|
||||
float hdg; ///< Compass heading in degrees, 0..360 degrees
|
||||
} mavlink_gps_raw_int_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 37
|
||||
#define MAVLINK_MSG_ID_25_LEN 37
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
|
||||
"GPS_RAW_INT", \
|
||||
9, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, usec) }, \
|
||||
{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 9, offsetof(mavlink_gps_raw_int_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 13, offsetof(mavlink_gps_raw_int_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 17, offsetof(mavlink_gps_raw_int_t, alt) }, \
|
||||
{ "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_int_t, eph) }, \
|
||||
{ "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_int_t, epv) }, \
|
||||
{ "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_int_t, v) }, \
|
||||
{ "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_int_t, hdg) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_raw_int message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
* @param lat Latitude in 1E7 degrees
|
||||
* @param lon Longitude in 1E7 degrees
|
||||
* @param alt Altitude in 1E3 meters (millimeters)
|
||||
* @param eph GPS HDOP
|
||||
* @param epv GPS VDOP
|
||||
* @param v GPS ground speed (m/s)
|
||||
* @param hdg Compass heading in degrees, 0..360 degrees
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[37];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_uint8_t(buf, 8, fix_type);
|
||||
_mav_put_int32_t(buf, 9, lat);
|
||||
_mav_put_int32_t(buf, 13, lon);
|
||||
_mav_put_int32_t(buf, 17, alt);
|
||||
_mav_put_float(buf, 21, eph);
|
||||
_mav_put_float(buf, 25, epv);
|
||||
_mav_put_float(buf, 29, v);
|
||||
_mav_put_float(buf, 33, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 37);
|
||||
#else
|
||||
mavlink_gps_raw_int_t packet;
|
||||
packet.usec = usec;
|
||||
packet.fix_type = fix_type;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.eph = eph;
|
||||
packet.epv = epv;
|
||||
packet.v = v;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 37);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_raw_int message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
* @param lat Latitude in 1E7 degrees
|
||||
* @param lon Longitude in 1E7 degrees
|
||||
* @param alt Altitude in 1E3 meters (millimeters)
|
||||
* @param eph GPS HDOP
|
||||
* @param epv GPS VDOP
|
||||
* @param v GPS ground speed (m/s)
|
||||
* @param hdg Compass heading in degrees, 0..360 degrees
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,float eph,float epv,float v,float hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[37];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_uint8_t(buf, 8, fix_type);
|
||||
_mav_put_int32_t(buf, 9, lat);
|
||||
_mav_put_int32_t(buf, 13, lon);
|
||||
_mav_put_int32_t(buf, 17, alt);
|
||||
_mav_put_float(buf, 21, eph);
|
||||
_mav_put_float(buf, 25, epv);
|
||||
_mav_put_float(buf, 29, v);
|
||||
_mav_put_float(buf, 33, hdg);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 37);
|
||||
#else
|
||||
mavlink_gps_raw_int_t packet;
|
||||
packet.usec = usec;
|
||||
packet.fix_type = fix_type;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.eph = eph;
|
||||
packet.epv = epv;
|
||||
packet.v = v;
|
||||
packet.hdg = hdg;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 37);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a gps_raw_int struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param gps_raw_int C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
|
||||
{
|
||||
return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->v, gps_raw_int->hdg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a gps_raw_int message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
* @param lat Latitude in 1E7 degrees
|
||||
* @param lon Longitude in 1E7 degrees
|
||||
* @param alt Altitude in 1E3 meters (millimeters)
|
||||
* @param eph GPS HDOP
|
||||
* @param epv GPS VDOP
|
||||
* @param v GPS ground speed (m/s)
|
||||
* @param hdg Compass heading in degrees, 0..360 degrees
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, float eph, float epv, float v, float hdg)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[37];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_uint8_t(buf, 8, fix_type);
|
||||
_mav_put_int32_t(buf, 9, lat);
|
||||
_mav_put_int32_t(buf, 13, lon);
|
||||
_mav_put_int32_t(buf, 17, alt);
|
||||
_mav_put_float(buf, 21, eph);
|
||||
_mav_put_float(buf, 25, epv);
|
||||
_mav_put_float(buf, 29, v);
|
||||
_mav_put_float(buf, 33, hdg);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, 37);
|
||||
#else
|
||||
mavlink_gps_raw_int_t packet;
|
||||
packet.usec = usec;
|
||||
packet.fix_type = fix_type;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.eph = eph;
|
||||
packet.epv = epv;
|
||||
packet.v = v;
|
||||
packet.hdg = hdg;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, 37);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GPS_RAW_INT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from gps_raw_int message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_gps_raw_int_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field fix_type from gps_raw_int message
|
||||
*
|
||||
* @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from gps_raw_int message
|
||||
*
|
||||
* @return Latitude in 1E7 degrees
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lon from gps_raw_int message
|
||||
*
|
||||
* @return Longitude in 1E7 degrees
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt from gps_raw_int message
|
||||
*
|
||||
* @return Altitude in 1E3 meters (millimeters)
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field eph from gps_raw_int message
|
||||
*
|
||||
* @return GPS HDOP
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field epv from gps_raw_int message
|
||||
*
|
||||
* @return GPS VDOP
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 25);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field v from gps_raw_int message
|
||||
*
|
||||
* @return GPS ground speed (m/s)
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_int_get_v(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 29);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field hdg from gps_raw_int message
|
||||
*
|
||||
* @return Compass heading in degrees, 0..360 degrees
|
||||
*/
|
||||
static inline float mavlink_msg_gps_raw_int_get_hdg(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 33);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a gps_raw_int message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param gps_raw_int C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
gps_raw_int->usec = mavlink_msg_gps_raw_int_get_usec(msg);
|
||||
gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
|
||||
gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
|
||||
gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
|
||||
gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
|
||||
gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
|
||||
gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
|
||||
gps_raw_int->v = mavlink_msg_gps_raw_int_get_v(msg);
|
||||
gps_raw_int->hdg = mavlink_msg_gps_raw_int_get_hdg(msg);
|
||||
#else
|
||||
memcpy(gps_raw_int, _MAV_PAYLOAD(msg), 37);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE GPS_SET_GLOBAL_ORIGIN PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN 48
|
||||
|
||||
typedef struct __mavlink_gps_set_global_origin_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
int32_t latitude; ///< global position * 1E7
|
||||
int32_t longitude; ///< global position * 1E7
|
||||
int32_t altitude; ///< global position * 1000
|
||||
} mavlink_gps_set_global_origin_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN_LEN 14
|
||||
#define MAVLINK_MSG_ID_48_LEN 14
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GPS_SET_GLOBAL_ORIGIN { \
|
||||
"GPS_SET_GLOBAL_ORIGIN", \
|
||||
5, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_set_global_origin_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_set_global_origin_t, target_component) }, \
|
||||
{ "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 2, offsetof(mavlink_gps_set_global_origin_t, latitude) }, \
|
||||
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 6, offsetof(mavlink_gps_set_global_origin_t, longitude) }, \
|
||||
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_gps_set_global_origin_t, altitude) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_set_global_origin message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param latitude global position * 1E7
|
||||
* @param longitude global position * 1E7
|
||||
* @param altitude global position * 1000
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_set_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, latitude);
|
||||
_mav_put_int32_t(buf, 6, longitude);
|
||||
_mav_put_int32_t(buf, 10, altitude);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_gps_set_global_origin_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.latitude = latitude;
|
||||
packet.longitude = longitude;
|
||||
packet.altitude = altitude;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_set_global_origin message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param latitude global position * 1E7
|
||||
* @param longitude global position * 1E7
|
||||
* @param altitude global position * 1000
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_set_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,int32_t latitude,int32_t longitude,int32_t altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, latitude);
|
||||
_mav_put_int32_t(buf, 6, longitude);
|
||||
_mav_put_int32_t(buf, 10, altitude);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_gps_set_global_origin_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.latitude = latitude;
|
||||
packet.longitude = longitude;
|
||||
packet.altitude = altitude;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a gps_set_global_origin struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param gps_set_global_origin C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_set_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_set_global_origin_t* gps_set_global_origin)
|
||||
{
|
||||
return mavlink_msg_gps_set_global_origin_pack(system_id, component_id, msg, gps_set_global_origin->target_system, gps_set_global_origin->target_component, gps_set_global_origin->latitude, gps_set_global_origin->longitude, gps_set_global_origin->altitude);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a gps_set_global_origin message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param latitude global position * 1E7
|
||||
* @param longitude global position * 1E7
|
||||
* @param altitude global position * 1000
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_gps_set_global_origin_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t latitude, int32_t longitude, int32_t altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int32_t(buf, 2, latitude);
|
||||
_mav_put_int32_t(buf, 6, longitude);
|
||||
_mav_put_int32_t(buf, 10, altitude);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, buf, 14);
|
||||
#else
|
||||
mavlink_gps_set_global_origin_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.latitude = latitude;
|
||||
packet.longitude = longitude;
|
||||
packet.altitude = altitude;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, (const char *)&packet, 14);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GPS_SET_GLOBAL_ORIGIN UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from gps_set_global_origin message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from gps_set_global_origin message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_gps_set_global_origin_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field latitude from gps_set_global_origin message
|
||||
*
|
||||
* @return global position * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_set_global_origin_get_latitude(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field longitude from gps_set_global_origin message
|
||||
*
|
||||
* @return global position * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_set_global_origin_get_longitude(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field altitude from gps_set_global_origin message
|
||||
*
|
||||
* @return global position * 1000
|
||||
*/
|
||||
static inline int32_t mavlink_msg_gps_set_global_origin_get_altitude(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a gps_set_global_origin message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param gps_set_global_origin C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_gps_set_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_set_global_origin_t* gps_set_global_origin)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
gps_set_global_origin->target_system = mavlink_msg_gps_set_global_origin_get_target_system(msg);
|
||||
gps_set_global_origin->target_component = mavlink_msg_gps_set_global_origin_get_target_component(msg);
|
||||
gps_set_global_origin->latitude = mavlink_msg_gps_set_global_origin_get_latitude(msg);
|
||||
gps_set_global_origin->longitude = mavlink_msg_gps_set_global_origin_get_longitude(msg);
|
||||
gps_set_global_origin->altitude = mavlink_msg_gps_set_global_origin_get_altitude(msg);
|
||||
#else
|
||||
memcpy(gps_set_global_origin, _MAV_PAYLOAD(msg), 14);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,252 @@
|
||||
// MESSAGE GPS_STATUS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_STATUS 27
|
||||
|
||||
typedef struct __mavlink_gps_status_t
|
||||
{
|
||||
uint8_t satellites_visible; ///< Number of satellites visible
|
||||
int8_t satellite_prn[20]; ///< Global satellite ID
|
||||
int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
|
||||
int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
|
||||
int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
|
||||
int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
|
||||
} mavlink_gps_status_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
|
||||
#define MAVLINK_MSG_ID_27_LEN 101
|
||||
|
||||
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
|
||||
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
|
||||
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
|
||||
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
|
||||
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
|
||||
"GPS_STATUS", \
|
||||
6, \
|
||||
{ { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
|
||||
{ "satellite_prn", NULL, MAVLINK_TYPE_INT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
|
||||
{ "satellite_used", NULL, MAVLINK_TYPE_INT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
|
||||
{ "satellite_elevation", NULL, MAVLINK_TYPE_INT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
|
||||
{ "satellite_azimuth", NULL, MAVLINK_TYPE_INT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
|
||||
{ "satellite_snr", NULL, MAVLINK_TYPE_INT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_status message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param satellites_visible Number of satellites visible
|
||||
* @param satellite_prn Global satellite ID
|
||||
* @param satellite_used 0: Satellite not used, 1: used for localization
|
||||
* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
|
||||
* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
|
||||
* @param satellite_snr Signal to noise ratio of satellite
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[101];
|
||||
_mav_put_uint8_t(buf, 0, satellites_visible);
|
||||
_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
|
||||
_mav_put_int8_t_array(buf, 21, satellite_used, 20);
|
||||
_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
|
||||
_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
|
||||
_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 101);
|
||||
#else
|
||||
mavlink_gps_status_t packet;
|
||||
packet.satellites_visible = satellites_visible;
|
||||
mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 101);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 101);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a gps_status message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param satellites_visible Number of satellites visible
|
||||
* @param satellite_prn Global satellite ID
|
||||
* @param satellite_used 0: Satellite not used, 1: used for localization
|
||||
* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
|
||||
* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
|
||||
* @param satellite_snr Signal to noise ratio of satellite
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t satellites_visible,const int8_t *satellite_prn,const int8_t *satellite_used,const int8_t *satellite_elevation,const int8_t *satellite_azimuth,const int8_t *satellite_snr)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[101];
|
||||
_mav_put_uint8_t(buf, 0, satellites_visible);
|
||||
_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
|
||||
_mav_put_int8_t_array(buf, 21, satellite_used, 20);
|
||||
_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
|
||||
_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
|
||||
_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 101);
|
||||
#else
|
||||
mavlink_gps_status_t packet;
|
||||
packet.satellites_visible = satellites_visible;
|
||||
mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 101);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 101);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a gps_status struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param gps_status C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
|
||||
{
|
||||
return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a gps_status message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param satellites_visible Number of satellites visible
|
||||
* @param satellite_prn Global satellite ID
|
||||
* @param satellite_used 0: Satellite not used, 1: used for localization
|
||||
* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
|
||||
* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
|
||||
* @param satellite_snr Signal to noise ratio of satellite
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t *satellite_prn, const int8_t *satellite_used, const int8_t *satellite_elevation, const int8_t *satellite_azimuth, const int8_t *satellite_snr)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[101];
|
||||
_mav_put_uint8_t(buf, 0, satellites_visible);
|
||||
_mav_put_int8_t_array(buf, 1, satellite_prn, 20);
|
||||
_mav_put_int8_t_array(buf, 21, satellite_used, 20);
|
||||
_mav_put_int8_t_array(buf, 41, satellite_elevation, 20);
|
||||
_mav_put_int8_t_array(buf, 61, satellite_azimuth, 20);
|
||||
_mav_put_int8_t_array(buf, 81, satellite_snr, 20);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, 101);
|
||||
#else
|
||||
mavlink_gps_status_t packet;
|
||||
packet.satellites_visible = satellites_visible;
|
||||
mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(int8_t)*20);
|
||||
mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(int8_t)*20);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, 101);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE GPS_STATUS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field satellites_visible from gps_status message
|
||||
*
|
||||
* @return Number of satellites visible
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field satellite_prn from gps_status message
|
||||
*
|
||||
* @return Global satellite ID
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t *satellite_prn)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, satellite_prn, 20, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field satellite_used from gps_status message
|
||||
*
|
||||
* @return 0: Satellite not used, 1: used for localization
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t *satellite_used)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, satellite_used, 20, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field satellite_elevation from gps_status message
|
||||
*
|
||||
* @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t *satellite_elevation)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, satellite_elevation, 20, 41);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field satellite_azimuth from gps_status message
|
||||
*
|
||||
* @return Direction of satellite, 0: 0 deg, 255: 360 deg.
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t *satellite_azimuth)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, satellite_azimuth, 20, 61);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field satellite_snr from gps_status message
|
||||
*
|
||||
* @return Signal to noise ratio of satellite
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t *satellite_snr)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, satellite_snr, 20, 81);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a gps_status message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param gps_status C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
|
||||
mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
|
||||
mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
|
||||
mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
|
||||
mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
|
||||
mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
|
||||
#else
|
||||
memcpy(gps_status, _MAV_PAYLOAD(msg), 101);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,185 @@
|
||||
// MESSAGE HEARTBEAT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_HEARTBEAT 0
|
||||
|
||||
typedef struct __mavlink_heartbeat_t
|
||||
{
|
||||
uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
|
||||
uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
|
||||
uint8_t mavlink_version; ///< MAVLink version
|
||||
} mavlink_heartbeat_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3
|
||||
#define MAVLINK_MSG_ID_0_LEN 3
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
|
||||
"HEARTBEAT", \
|
||||
3, \
|
||||
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \
|
||||
{ "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \
|
||||
{ "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a heartbeat message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
|
||||
* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t type, uint8_t autopilot)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, type);
|
||||
_mav_put_uint8_t(buf, 1, autopilot);
|
||||
_mav_put_uint8_t(buf, 2, 2);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_heartbeat_t packet;
|
||||
packet.type = type;
|
||||
packet.autopilot = autopilot;
|
||||
packet.mavlink_version = 2;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a heartbeat message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
|
||||
* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t type,uint8_t autopilot)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, type);
|
||||
_mav_put_uint8_t(buf, 1, autopilot);
|
||||
_mav_put_uint8_t(buf, 2, 2);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 3);
|
||||
#else
|
||||
mavlink_heartbeat_t packet;
|
||||
packet.type = type;
|
||||
packet.autopilot = autopilot;
|
||||
packet.mavlink_version = 2;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 3);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a heartbeat struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param heartbeat C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
|
||||
{
|
||||
return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a heartbeat message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
|
||||
* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[3];
|
||||
_mav_put_uint8_t(buf, 0, type);
|
||||
_mav_put_uint8_t(buf, 1, autopilot);
|
||||
_mav_put_uint8_t(buf, 2, 2);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3);
|
||||
#else
|
||||
mavlink_heartbeat_t packet;
|
||||
packet.type = type;
|
||||
packet.autopilot = autopilot;
|
||||
packet.mavlink_version = 2;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE HEARTBEAT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field type from heartbeat message
|
||||
*
|
||||
* @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field autopilot from heartbeat message
|
||||
*
|
||||
* @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mavlink_version from heartbeat message
|
||||
*
|
||||
* @return MAVLink version
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a heartbeat message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param heartbeat C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
|
||||
heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
|
||||
heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
|
||||
#else
|
||||
memcpy(heartbeat, _MAV_PAYLOAD(msg), 3);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,276 @@
|
||||
// MESSAGE HIL_CONTROLS PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_HIL_CONTROLS 68
|
||||
|
||||
typedef struct __mavlink_hil_controls_t
|
||||
{
|
||||
uint64_t time_us; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
float roll_ailerons; ///< Control output -3 .. 1
|
||||
float pitch_elevator; ///< Control output -1 .. 1
|
||||
float yaw_rudder; ///< Control output -1 .. 1
|
||||
float throttle; ///< Throttle 0 .. 1
|
||||
uint8_t mode; ///< System mode (MAV_MODE)
|
||||
uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
|
||||
} mavlink_hil_controls_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 26
|
||||
#define MAVLINK_MSG_ID_68_LEN 26
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
|
||||
"HIL_CONTROLS", \
|
||||
7, \
|
||||
{ { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_us) }, \
|
||||
{ "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
|
||||
{ "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
|
||||
{ "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
|
||||
{ "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
|
||||
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_controls_t, mode) }, \
|
||||
{ "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_controls_t, nav_mode) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a hil_controls message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll_ailerons Control output -3 .. 1
|
||||
* @param pitch_elevator Control output -1 .. 1
|
||||
* @param yaw_rudder Control output -1 .. 1
|
||||
* @param throttle Throttle 0 .. 1
|
||||
* @param mode System mode (MAV_MODE)
|
||||
* @param nav_mode Navigation mode (MAV_NAV_MODE)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll_ailerons);
|
||||
_mav_put_float(buf, 12, pitch_elevator);
|
||||
_mav_put_float(buf, 16, yaw_rudder);
|
||||
_mav_put_float(buf, 20, throttle);
|
||||
_mav_put_uint8_t(buf, 24, mode);
|
||||
_mav_put_uint8_t(buf, 25, nav_mode);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_hil_controls_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll_ailerons = roll_ailerons;
|
||||
packet.pitch_elevator = pitch_elevator;
|
||||
packet.yaw_rudder = yaw_rudder;
|
||||
packet.throttle = throttle;
|
||||
packet.mode = mode;
|
||||
packet.nav_mode = nav_mode;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a hil_controls message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll_ailerons Control output -3 .. 1
|
||||
* @param pitch_elevator Control output -1 .. 1
|
||||
* @param yaw_rudder Control output -1 .. 1
|
||||
* @param throttle Throttle 0 .. 1
|
||||
* @param mode System mode (MAV_MODE)
|
||||
* @param nav_mode Navigation mode (MAV_NAV_MODE)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t time_us,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,uint8_t mode,uint8_t nav_mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll_ailerons);
|
||||
_mav_put_float(buf, 12, pitch_elevator);
|
||||
_mav_put_float(buf, 16, yaw_rudder);
|
||||
_mav_put_float(buf, 20, throttle);
|
||||
_mav_put_uint8_t(buf, 24, mode);
|
||||
_mav_put_uint8_t(buf, 25, nav_mode);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_hil_controls_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll_ailerons = roll_ailerons;
|
||||
packet.pitch_elevator = pitch_elevator;
|
||||
packet.yaw_rudder = yaw_rudder;
|
||||
packet.throttle = throttle;
|
||||
packet.mode = mode;
|
||||
packet.nav_mode = nav_mode;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a hil_controls struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param hil_controls C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
|
||||
{
|
||||
return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_us, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->mode, hil_controls->nav_mode);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a hil_controls message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll_ailerons Control output -3 .. 1
|
||||
* @param pitch_elevator Control output -1 .. 1
|
||||
* @param yaw_rudder Control output -1 .. 1
|
||||
* @param throttle Throttle 0 .. 1
|
||||
* @param mode System mode (MAV_MODE)
|
||||
* @param nav_mode Navigation mode (MAV_NAV_MODE)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_us, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, uint8_t mode, uint8_t nav_mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll_ailerons);
|
||||
_mav_put_float(buf, 12, pitch_elevator);
|
||||
_mav_put_float(buf, 16, yaw_rudder);
|
||||
_mav_put_float(buf, 20, throttle);
|
||||
_mav_put_uint8_t(buf, 24, mode);
|
||||
_mav_put_uint8_t(buf, 25, nav_mode);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 26);
|
||||
#else
|
||||
mavlink_hil_controls_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll_ailerons = roll_ailerons;
|
||||
packet.pitch_elevator = pitch_elevator;
|
||||
packet.yaw_rudder = yaw_rudder;
|
||||
packet.throttle = throttle;
|
||||
packet.mode = mode;
|
||||
packet.nav_mode = nav_mode;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 26);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE HIL_CONTROLS UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_us from hil_controls message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_hil_controls_get_time_us(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll_ailerons from hil_controls message
|
||||
*
|
||||
* @return Control output -3 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch_elevator from hil_controls message
|
||||
*
|
||||
* @return Control output -1 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw_rudder from hil_controls message
|
||||
*
|
||||
* @return Control output -1 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field throttle from hil_controls message
|
||||
*
|
||||
* @return Throttle 0 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mode from hil_controls message
|
||||
*
|
||||
* @return System mode (MAV_MODE)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field nav_mode from hil_controls message
|
||||
*
|
||||
* @return Navigation mode (MAV_NAV_MODE)
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 25);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a hil_controls message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param hil_controls C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
hil_controls->time_us = mavlink_msg_hil_controls_get_time_us(msg);
|
||||
hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
|
||||
hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
|
||||
hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
|
||||
hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
|
||||
hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
|
||||
hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
|
||||
#else
|
||||
memcpy(hil_controls, _MAV_PAYLOAD(msg), 26);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,474 @@
|
||||
// MESSAGE HIL_STATE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_HIL_STATE 67
|
||||
|
||||
typedef struct __mavlink_hil_state_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
float roll; ///< Roll angle (rad)
|
||||
float pitch; ///< Pitch angle (rad)
|
||||
float yaw; ///< Yaw angle (rad)
|
||||
float rollspeed; ///< Roll angular speed (rad/s)
|
||||
float pitchspeed; ///< Pitch angular speed (rad/s)
|
||||
float yawspeed; ///< Yaw angular speed (rad/s)
|
||||
int32_t lat; ///< Latitude, expressed as * 1E7
|
||||
int32_t lon; ///< Longitude, expressed as * 1E7
|
||||
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
|
||||
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
|
||||
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
int16_t xacc; ///< X acceleration (mg)
|
||||
int16_t yacc; ///< Y acceleration (mg)
|
||||
int16_t zacc; ///< Z acceleration (mg)
|
||||
} mavlink_hil_state_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
|
||||
#define MAVLINK_MSG_ID_67_LEN 56
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
|
||||
"HIL_STATE", \
|
||||
16, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, usec) }, \
|
||||
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
|
||||
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
|
||||
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
|
||||
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
|
||||
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
|
||||
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
|
||||
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
|
||||
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
|
||||
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
|
||||
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
|
||||
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
|
||||
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
|
||||
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
|
||||
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a hil_state message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param rollspeed Roll angular speed (rad/s)
|
||||
* @param pitchspeed Pitch angular speed (rad/s)
|
||||
* @param yawspeed Yaw angular speed (rad/s)
|
||||
* @param lat Latitude, expressed as * 1E7
|
||||
* @param lon Longitude, expressed as * 1E7
|
||||
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
||||
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||||
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
* @param xacc X acceleration (mg)
|
||||
* @param yacc Y acceleration (mg)
|
||||
* @param zacc Z acceleration (mg)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[56];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, rollspeed);
|
||||
_mav_put_float(buf, 24, pitchspeed);
|
||||
_mav_put_float(buf, 28, yawspeed);
|
||||
_mav_put_int32_t(buf, 32, lat);
|
||||
_mav_put_int32_t(buf, 36, lon);
|
||||
_mav_put_int32_t(buf, 40, alt);
|
||||
_mav_put_int16_t(buf, 44, vx);
|
||||
_mav_put_int16_t(buf, 46, vy);
|
||||
_mav_put_int16_t(buf, 48, vz);
|
||||
_mav_put_int16_t(buf, 50, xacc);
|
||||
_mav_put_int16_t(buf, 52, yacc);
|
||||
_mav_put_int16_t(buf, 54, zacc);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 56);
|
||||
#else
|
||||
mavlink_hil_state_t packet;
|
||||
packet.usec = usec;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 56);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 56);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a hil_state message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param rollspeed Roll angular speed (rad/s)
|
||||
* @param pitchspeed Pitch angular speed (rad/s)
|
||||
* @param yawspeed Yaw angular speed (rad/s)
|
||||
* @param lat Latitude, expressed as * 1E7
|
||||
* @param lon Longitude, expressed as * 1E7
|
||||
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
||||
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||||
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
* @param xacc X acceleration (mg)
|
||||
* @param yacc Y acceleration (mg)
|
||||
* @param zacc Z acceleration (mg)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[56];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, rollspeed);
|
||||
_mav_put_float(buf, 24, pitchspeed);
|
||||
_mav_put_float(buf, 28, yawspeed);
|
||||
_mav_put_int32_t(buf, 32, lat);
|
||||
_mav_put_int32_t(buf, 36, lon);
|
||||
_mav_put_int32_t(buf, 40, alt);
|
||||
_mav_put_int16_t(buf, 44, vx);
|
||||
_mav_put_int16_t(buf, 46, vy);
|
||||
_mav_put_int16_t(buf, 48, vz);
|
||||
_mav_put_int16_t(buf, 50, xacc);
|
||||
_mav_put_int16_t(buf, 52, yacc);
|
||||
_mav_put_int16_t(buf, 54, zacc);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 56);
|
||||
#else
|
||||
mavlink_hil_state_t packet;
|
||||
packet.usec = usec;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 56);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a hil_state struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param hil_state C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
|
||||
{
|
||||
return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a hil_state message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param roll Roll angle (rad)
|
||||
* @param pitch Pitch angle (rad)
|
||||
* @param yaw Yaw angle (rad)
|
||||
* @param rollspeed Roll angular speed (rad/s)
|
||||
* @param pitchspeed Pitch angular speed (rad/s)
|
||||
* @param yawspeed Yaw angular speed (rad/s)
|
||||
* @param lat Latitude, expressed as * 1E7
|
||||
* @param lon Longitude, expressed as * 1E7
|
||||
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
||||
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||||
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
* @param xacc X acceleration (mg)
|
||||
* @param yacc Y acceleration (mg)
|
||||
* @param zacc Z acceleration (mg)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[56];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, rollspeed);
|
||||
_mav_put_float(buf, 24, pitchspeed);
|
||||
_mav_put_float(buf, 28, yawspeed);
|
||||
_mav_put_int32_t(buf, 32, lat);
|
||||
_mav_put_int32_t(buf, 36, lon);
|
||||
_mav_put_int32_t(buf, 40, alt);
|
||||
_mav_put_int16_t(buf, 44, vx);
|
||||
_mav_put_int16_t(buf, 46, vy);
|
||||
_mav_put_int16_t(buf, 48, vz);
|
||||
_mav_put_int16_t(buf, 50, xacc);
|
||||
_mav_put_int16_t(buf, 52, yacc);
|
||||
_mav_put_int16_t(buf, 54, zacc);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56);
|
||||
#else
|
||||
mavlink_hil_state_t packet;
|
||||
packet.usec = usec;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
packet.lat = lat;
|
||||
packet.lon = lon;
|
||||
packet.alt = alt;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE HIL_STATE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from hil_state message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll from hil_state message
|
||||
*
|
||||
* @return Roll angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch from hil_state message
|
||||
*
|
||||
* @return Pitch angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from hil_state message
|
||||
*
|
||||
* @return Yaw angle (rad)
|
||||
*/
|
||||
static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field rollspeed from hil_state message
|
||||
*
|
||||
* @return Roll angular speed (rad/s)
|
||||
*/
|
||||
static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitchspeed from hil_state message
|
||||
*
|
||||
* @return Pitch angular speed (rad/s)
|
||||
*/
|
||||
static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yawspeed from hil_state message
|
||||
*
|
||||
* @return Yaw angular speed (rad/s)
|
||||
*/
|
||||
static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lat from hil_state message
|
||||
*
|
||||
* @return Latitude, expressed as * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field lon from hil_state message
|
||||
*
|
||||
* @return Longitude, expressed as * 1E7
|
||||
*/
|
||||
static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt from hil_state message
|
||||
*
|
||||
* @return Altitude in meters, expressed as * 1000 (millimeters)
|
||||
*/
|
||||
static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 40);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from hil_state message
|
||||
*
|
||||
* @return Ground X Speed (Latitude), expressed as m/s * 100
|
||||
*/
|
||||
static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 44);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from hil_state message
|
||||
*
|
||||
* @return Ground Y Speed (Longitude), expressed as m/s * 100
|
||||
*/
|
||||
static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 46);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from hil_state message
|
||||
*
|
||||
* @return Ground Z Speed (Altitude), expressed as m/s * 100
|
||||
*/
|
||||
static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 48);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xacc from hil_state message
|
||||
*
|
||||
* @return X acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 50);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yacc from hil_state message
|
||||
*
|
||||
* @return Y acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 52);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zacc from hil_state message
|
||||
*
|
||||
* @return Z acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 54);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a hil_state message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param hil_state C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
hil_state->usec = mavlink_msg_hil_state_get_usec(msg);
|
||||
hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
|
||||
hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
|
||||
hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
|
||||
hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
|
||||
hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
|
||||
hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
|
||||
hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
|
||||
hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
|
||||
hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
|
||||
hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
|
||||
hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
|
||||
hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
|
||||
hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
|
||||
hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
|
||||
hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
|
||||
#else
|
||||
memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,276 @@
|
||||
// MESSAGE LOCAL_POSITION PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION 31
|
||||
|
||||
typedef struct __mavlink_local_position_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
float x; ///< X Position
|
||||
float y; ///< Y Position
|
||||
float z; ///< Z Position
|
||||
float vx; ///< X Speed
|
||||
float vy; ///< Y Speed
|
||||
float vz; ///< Z Speed
|
||||
} mavlink_local_position_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 32
|
||||
#define MAVLINK_MSG_ID_31_LEN 32
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \
|
||||
"LOCAL_POSITION", \
|
||||
7, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
|
||||
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
|
||||
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
|
||||
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
|
||||
{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
|
||||
{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
|
||||
{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param x X Position
|
||||
* @param y Y Position
|
||||
* @param z Z Position
|
||||
* @param vx X Speed
|
||||
* @param vy Y Speed
|
||||
* @param vz Z Speed
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, x);
|
||||
_mav_put_float(buf, 12, y);
|
||||
_mav_put_float(buf, 16, z);
|
||||
_mav_put_float(buf, 20, vx);
|
||||
_mav_put_float(buf, 24, vy);
|
||||
_mav_put_float(buf, 28, vz);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_local_position_t packet;
|
||||
packet.usec = usec;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param x X Position
|
||||
* @param y Y Position
|
||||
* @param z Z Position
|
||||
* @param vx X Speed
|
||||
* @param vy Y Speed
|
||||
* @param vz Z Speed
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,float x,float y,float z,float vx,float vy,float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, x);
|
||||
_mav_put_float(buf, 12, y);
|
||||
_mav_put_float(buf, 16, z);
|
||||
_mav_put_float(buf, 20, vx);
|
||||
_mav_put_float(buf, 24, vy);
|
||||
_mav_put_float(buf, 28, vz);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 32);
|
||||
#else
|
||||
mavlink_local_position_t packet;
|
||||
packet.usec = usec;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 32);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a local_position struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param local_position C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position)
|
||||
{
|
||||
return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a local_position message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param x X Position
|
||||
* @param y Y Position
|
||||
* @param z Z Position
|
||||
* @param vx X Speed
|
||||
* @param vy Y Speed
|
||||
* @param vz Z Speed
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[32];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, x);
|
||||
_mav_put_float(buf, 12, y);
|
||||
_mav_put_float(buf, 16, z);
|
||||
_mav_put_float(buf, 20, vx);
|
||||
_mav_put_float(buf, 24, vy);
|
||||
_mav_put_float(buf, 28, vz);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 32);
|
||||
#else
|
||||
mavlink_local_position_t packet;
|
||||
packet.usec = usec;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 32);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE LOCAL_POSITION UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from local_position message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field x from local_position message
|
||||
*
|
||||
* @return X Position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from local_position message
|
||||
*
|
||||
* @return Y Position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from local_position message
|
||||
*
|
||||
* @return Z Position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from local_position message
|
||||
*
|
||||
* @return X Speed
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from local_position message
|
||||
*
|
||||
* @return Y Speed
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from local_position message
|
||||
*
|
||||
* @return Z Speed
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a local_position message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param local_position C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
local_position->usec = mavlink_msg_local_position_get_usec(msg);
|
||||
local_position->x = mavlink_msg_local_position_get_x(msg);
|
||||
local_position->y = mavlink_msg_local_position_get_y(msg);
|
||||
local_position->z = mavlink_msg_local_position_get_z(msg);
|
||||
local_position->vx = mavlink_msg_local_position_get_vx(msg);
|
||||
local_position->vy = mavlink_msg_local_position_get_vy(msg);
|
||||
local_position->vz = mavlink_msg_local_position_get_vz(msg);
|
||||
#else
|
||||
memcpy(local_position, _MAV_PAYLOAD(msg), 32);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
// MESSAGE LOCAL_POSITION_SETPOINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
|
||||
|
||||
typedef struct __mavlink_local_position_setpoint_t
|
||||
{
|
||||
float x; ///< x position
|
||||
float y; ///< y position
|
||||
float z; ///< z position
|
||||
float yaw; ///< Desired yaw angle
|
||||
} mavlink_local_position_setpoint_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 16
|
||||
#define MAVLINK_MSG_ID_51_LEN 16
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \
|
||||
"LOCAL_POSITION_SETPOINT", \
|
||||
4, \
|
||||
{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
|
||||
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
|
||||
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position_setpoint message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw Desired yaw angle
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float x, float y, float z, float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_float(buf, 0, x);
|
||||
_mav_put_float(buf, 4, y);
|
||||
_mav_put_float(buf, 8, z);
|
||||
_mav_put_float(buf, 12, yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_local_position_setpoint_t packet;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position_setpoint message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw Desired yaw angle
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float x,float y,float z,float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_float(buf, 0, x);
|
||||
_mav_put_float(buf, 4, y);
|
||||
_mav_put_float(buf, 8, z);
|
||||
_mav_put_float(buf, 12, yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_local_position_setpoint_t packet;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a local_position_setpoint struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param local_position_setpoint C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
|
||||
{
|
||||
return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a local_position_setpoint message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw Desired yaw angle
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_float(buf, 0, x);
|
||||
_mav_put_float(buf, 4, y);
|
||||
_mav_put_float(buf, 8, z);
|
||||
_mav_put_float(buf, 12, yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 16);
|
||||
#else
|
||||
mavlink_local_position_setpoint_t packet;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 16);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field x from local_position_setpoint message
|
||||
*
|
||||
* @return x position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from local_position_setpoint message
|
||||
*
|
||||
* @return y position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from local_position_setpoint message
|
||||
*
|
||||
* @return z position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from local_position_setpoint message
|
||||
*
|
||||
* @return Desired yaw angle
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a local_position_setpoint message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param local_position_setpoint C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg);
|
||||
local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg);
|
||||
local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg);
|
||||
local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
|
||||
#else
|
||||
memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 16);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE LOCAL_POSITION_SETPOINT_SET PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET 50
|
||||
|
||||
typedef struct __mavlink_local_position_setpoint_set_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
float x; ///< x position
|
||||
float y; ///< y position
|
||||
float z; ///< z position
|
||||
float yaw; ///< Desired yaw angle
|
||||
} mavlink_local_position_setpoint_set_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET_LEN 18
|
||||
#define MAVLINK_MSG_ID_50_LEN 18
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT_SET { \
|
||||
"LOCAL_POSITION_SETPOINT_SET", \
|
||||
6, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_local_position_setpoint_set_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_local_position_setpoint_set_t, target_component) }, \
|
||||
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 2, offsetof(mavlink_local_position_setpoint_set_t, x) }, \
|
||||
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 6, offsetof(mavlink_local_position_setpoint_set_t, y) }, \
|
||||
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_local_position_setpoint_set_t, z) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_local_position_setpoint_set_t, yaw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position_setpoint_set message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw Desired yaw angle
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_setpoint_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_float(buf, 2, x);
|
||||
_mav_put_float(buf, 6, y);
|
||||
_mav_put_float(buf, 10, z);
|
||||
_mav_put_float(buf, 14, yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_local_position_setpoint_set_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a local_position_setpoint_set message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw Desired yaw angle
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_setpoint_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,float x,float y,float z,float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_float(buf, 2, x);
|
||||
_mav_put_float(buf, 6, y);
|
||||
_mav_put_float(buf, 10, z);
|
||||
_mav_put_float(buf, 14, yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_local_position_setpoint_set_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a local_position_setpoint_set struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param local_position_setpoint_set C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_local_position_setpoint_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
|
||||
{
|
||||
return mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, msg, local_position_setpoint_set->target_system, local_position_setpoint_set->target_component, local_position_setpoint_set->x, local_position_setpoint_set->y, local_position_setpoint_set->z, local_position_setpoint_set->yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a local_position_setpoint_set message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw Desired yaw angle
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_local_position_setpoint_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_float(buf, 2, x);
|
||||
_mav_put_float(buf, 6, y);
|
||||
_mav_put_float(buf, 10, z);
|
||||
_mav_put_float(buf, 14, yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, buf, 18);
|
||||
#else
|
||||
mavlink_local_position_setpoint_set_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, (const char *)&packet, 18);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE LOCAL_POSITION_SETPOINT_SET UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from local_position_setpoint_set message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from local_position_setpoint_set message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_local_position_setpoint_set_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field x from local_position_setpoint_set message
|
||||
*
|
||||
* @return x position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_set_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from local_position_setpoint_set message
|
||||
*
|
||||
* @return y position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_set_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from local_position_setpoint_set message
|
||||
*
|
||||
* @return z position
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_set_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from local_position_setpoint_set message
|
||||
*
|
||||
* @return Desired yaw angle
|
||||
*/
|
||||
static inline float mavlink_msg_local_position_setpoint_set_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a local_position_setpoint_set message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param local_position_setpoint_set C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_local_position_setpoint_set_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_set_t* local_position_setpoint_set)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
local_position_setpoint_set->target_system = mavlink_msg_local_position_setpoint_set_get_target_system(msg);
|
||||
local_position_setpoint_set->target_component = mavlink_msg_local_position_setpoint_set_get_target_component(msg);
|
||||
local_position_setpoint_set->x = mavlink_msg_local_position_setpoint_set_get_x(msg);
|
||||
local_position_setpoint_set->y = mavlink_msg_local_position_setpoint_set_get_y(msg);
|
||||
local_position_setpoint_set->z = mavlink_msg_local_position_setpoint_set_get_z(msg);
|
||||
local_position_setpoint_set->yaw = mavlink_msg_local_position_setpoint_set_get_yaw(msg);
|
||||
#else
|
||||
memcpy(local_position_setpoint_set, _MAV_PAYLOAD(msg), 18);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
// MESSAGE MANUAL_CONTROL PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_MANUAL_CONTROL 69
|
||||
|
||||
typedef struct __mavlink_manual_control_t
|
||||
{
|
||||
uint8_t target; ///< The system to be controlled
|
||||
float roll; ///< roll
|
||||
float pitch; ///< pitch
|
||||
float yaw; ///< yaw
|
||||
float thrust; ///< thrust
|
||||
uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
|
||||
uint8_t pitch_manual; ///< pitch auto:0, manual:1
|
||||
uint8_t yaw_manual; ///< yaw auto:0, manual:1
|
||||
uint8_t thrust_manual; ///< thrust auto:0, manual:1
|
||||
} mavlink_manual_control_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 21
|
||||
#define MAVLINK_MSG_ID_69_LEN 21
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
|
||||
"MANUAL_CONTROL", \
|
||||
9, \
|
||||
{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_manual_control_t, target) }, \
|
||||
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_manual_control_t, roll) }, \
|
||||
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_manual_control_t, pitch) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_manual_control_t, yaw) }, \
|
||||
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_manual_control_t, thrust) }, \
|
||||
{ "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_manual_control_t, roll_manual) }, \
|
||||
{ "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_manual_control_t, pitch_manual) }, \
|
||||
{ "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_manual_control_t, yaw_manual) }, \
|
||||
{ "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_control_t, thrust_manual) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a manual_control message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target The system to be controlled
|
||||
* @param roll roll
|
||||
* @param pitch pitch
|
||||
* @param yaw yaw
|
||||
* @param thrust thrust
|
||||
* @param roll_manual roll control enabled auto:0, manual:1
|
||||
* @param pitch_manual pitch auto:0, manual:1
|
||||
* @param yaw_manual yaw auto:0, manual:1
|
||||
* @param thrust_manual thrust auto:0, manual:1
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[21];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_float(buf, 1, roll);
|
||||
_mav_put_float(buf, 5, pitch);
|
||||
_mav_put_float(buf, 9, yaw);
|
||||
_mav_put_float(buf, 13, thrust);
|
||||
_mav_put_uint8_t(buf, 17, roll_manual);
|
||||
_mav_put_uint8_t(buf, 18, pitch_manual);
|
||||
_mav_put_uint8_t(buf, 19, yaw_manual);
|
||||
_mav_put_uint8_t(buf, 20, thrust_manual);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 21);
|
||||
#else
|
||||
mavlink_manual_control_t packet;
|
||||
packet.target = target;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.thrust = thrust;
|
||||
packet.roll_manual = roll_manual;
|
||||
packet.pitch_manual = pitch_manual;
|
||||
packet.yaw_manual = yaw_manual;
|
||||
packet.thrust_manual = thrust_manual;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a manual_control message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target The system to be controlled
|
||||
* @param roll roll
|
||||
* @param pitch pitch
|
||||
* @param yaw yaw
|
||||
* @param thrust thrust
|
||||
* @param roll_manual roll control enabled auto:0, manual:1
|
||||
* @param pitch_manual pitch auto:0, manual:1
|
||||
* @param yaw_manual yaw auto:0, manual:1
|
||||
* @param thrust_manual thrust auto:0, manual:1
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target,float roll,float pitch,float yaw,float thrust,uint8_t roll_manual,uint8_t pitch_manual,uint8_t yaw_manual,uint8_t thrust_manual)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[21];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_float(buf, 1, roll);
|
||||
_mav_put_float(buf, 5, pitch);
|
||||
_mav_put_float(buf, 9, yaw);
|
||||
_mav_put_float(buf, 13, thrust);
|
||||
_mav_put_uint8_t(buf, 17, roll_manual);
|
||||
_mav_put_uint8_t(buf, 18, pitch_manual);
|
||||
_mav_put_uint8_t(buf, 19, yaw_manual);
|
||||
_mav_put_uint8_t(buf, 20, thrust_manual);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 21);
|
||||
#else
|
||||
mavlink_manual_control_t packet;
|
||||
packet.target = target;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.thrust = thrust;
|
||||
packet.roll_manual = roll_manual;
|
||||
packet.pitch_manual = pitch_manual;
|
||||
packet.yaw_manual = yaw_manual;
|
||||
packet.thrust_manual = thrust_manual;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a manual_control struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param manual_control C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
|
||||
{
|
||||
return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->roll, manual_control->pitch, manual_control->yaw, manual_control->thrust, manual_control->roll_manual, manual_control->pitch_manual, manual_control->yaw_manual, manual_control->thrust_manual);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a manual_control message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target The system to be controlled
|
||||
* @param roll roll
|
||||
* @param pitch pitch
|
||||
* @param yaw yaw
|
||||
* @param thrust thrust
|
||||
* @param roll_manual roll control enabled auto:0, manual:1
|
||||
* @param pitch_manual pitch auto:0, manual:1
|
||||
* @param yaw_manual yaw auto:0, manual:1
|
||||
* @param thrust_manual thrust auto:0, manual:1
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[21];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_float(buf, 1, roll);
|
||||
_mav_put_float(buf, 5, pitch);
|
||||
_mav_put_float(buf, 9, yaw);
|
||||
_mav_put_float(buf, 13, thrust);
|
||||
_mav_put_uint8_t(buf, 17, roll_manual);
|
||||
_mav_put_uint8_t(buf, 18, pitch_manual);
|
||||
_mav_put_uint8_t(buf, 19, yaw_manual);
|
||||
_mav_put_uint8_t(buf, 20, thrust_manual);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, 21);
|
||||
#else
|
||||
mavlink_manual_control_t packet;
|
||||
packet.target = target;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.thrust = thrust;
|
||||
packet.roll_manual = roll_manual;
|
||||
packet.pitch_manual = pitch_manual;
|
||||
packet.yaw_manual = yaw_manual;
|
||||
packet.thrust_manual = thrust_manual;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, 21);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE MANUAL_CONTROL UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target from manual_control message
|
||||
*
|
||||
* @return The system to be controlled
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll from manual_control message
|
||||
*
|
||||
* @return roll
|
||||
*/
|
||||
static inline float mavlink_msg_manual_control_get_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch from manual_control message
|
||||
*
|
||||
* @return pitch
|
||||
*/
|
||||
static inline float mavlink_msg_manual_control_get_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from manual_control message
|
||||
*
|
||||
* @return yaw
|
||||
*/
|
||||
static inline float mavlink_msg_manual_control_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field thrust from manual_control message
|
||||
*
|
||||
* @return thrust
|
||||
*/
|
||||
static inline float mavlink_msg_manual_control_get_thrust(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll_manual from manual_control message
|
||||
*
|
||||
* @return roll control enabled auto:0, manual:1
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_manual_control_get_roll_manual(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch_manual from manual_control message
|
||||
*
|
||||
* @return pitch auto:0, manual:1
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_manual_control_get_pitch_manual(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw_manual from manual_control message
|
||||
*
|
||||
* @return yaw auto:0, manual:1
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_manual_control_get_yaw_manual(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 19);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field thrust_manual from manual_control message
|
||||
*
|
||||
* @return thrust auto:0, manual:1
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_manual_control_get_thrust_manual(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a manual_control message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param manual_control C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
manual_control->target = mavlink_msg_manual_control_get_target(msg);
|
||||
manual_control->roll = mavlink_msg_manual_control_get_roll(msg);
|
||||
manual_control->pitch = mavlink_msg_manual_control_get_pitch(msg);
|
||||
manual_control->yaw = mavlink_msg_manual_control_get_yaw(msg);
|
||||
manual_control->thrust = mavlink_msg_manual_control_get_thrust(msg);
|
||||
manual_control->roll_manual = mavlink_msg_manual_control_get_roll_manual(msg);
|
||||
manual_control->pitch_manual = mavlink_msg_manual_control_get_pitch_manual(msg);
|
||||
manual_control->yaw_manual = mavlink_msg_manual_control_get_yaw_manual(msg);
|
||||
manual_control->thrust_manual = mavlink_msg_manual_control_get_thrust_manual(msg);
|
||||
#else
|
||||
memcpy(manual_control, _MAV_PAYLOAD(msg), 21);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,160 @@
|
||||
// MESSAGE NAMED_VALUE_FLOAT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 252
|
||||
|
||||
typedef struct __mavlink_named_value_float_t
|
||||
{
|
||||
char name[10]; ///< Name of the debug variable
|
||||
float value; ///< Floating point value
|
||||
} mavlink_named_value_float_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN 14
|
||||
#define MAVLINK_MSG_ID_252_LEN 14
|
||||
|
||||
#define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT { \
|
||||
"NAMED_VALUE_FLOAT", \
|
||||
2, \
|
||||
{ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_named_value_float_t, name) }, \
|
||||
{ "value", NULL, MAVLINK_TYPE_FLOAT, 0, 10, offsetof(mavlink_named_value_float_t, value) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a named_value_float message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param name Name of the debug variable
|
||||
* @param value Floating point value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
const char *name, float value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_float(buf, 10, value);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_named_value_float_t packet;
|
||||
packet.value = value;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a named_value_float message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param name Name of the debug variable
|
||||
* @param value Floating point value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
const char *name,float value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_float(buf, 10, value);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_named_value_float_t packet;
|
||||
packet.value = value;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a named_value_float struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param named_value_float C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float)
|
||||
{
|
||||
return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->name, named_value_float->value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a named_value_float message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param name Name of the debug variable
|
||||
* @param value Floating point value
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, const char *name, float value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_float(buf, 10, value);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, 14);
|
||||
#else
|
||||
mavlink_named_value_float_t packet;
|
||||
packet.value = value;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, 14);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE NAMED_VALUE_FLOAT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field name from named_value_float message
|
||||
*
|
||||
* @return Name of the debug variable
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char *name)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, name, 10, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field value from named_value_float message
|
||||
*
|
||||
* @return Floating point value
|
||||
*/
|
||||
static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a named_value_float message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param named_value_float C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mavlink_msg_named_value_float_get_name(msg, named_value_float->name);
|
||||
named_value_float->value = mavlink_msg_named_value_float_get_value(msg);
|
||||
#else
|
||||
memcpy(named_value_float, _MAV_PAYLOAD(msg), 14);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,160 @@
|
||||
// MESSAGE NAMED_VALUE_INT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_NAMED_VALUE_INT 253
|
||||
|
||||
typedef struct __mavlink_named_value_int_t
|
||||
{
|
||||
char name[10]; ///< Name of the debug variable
|
||||
int32_t value; ///< Signed integer value
|
||||
} mavlink_named_value_int_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN 14
|
||||
#define MAVLINK_MSG_ID_253_LEN 14
|
||||
|
||||
#define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT { \
|
||||
"NAMED_VALUE_INT", \
|
||||
2, \
|
||||
{ { "name", NULL, MAVLINK_TYPE_CHAR, 10, 0, offsetof(mavlink_named_value_int_t, name) }, \
|
||||
{ "value", NULL, MAVLINK_TYPE_INT32_T, 0, 10, offsetof(mavlink_named_value_int_t, value) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a named_value_int message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param name Name of the debug variable
|
||||
* @param value Signed integer value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
const char *name, int32_t value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_int32_t(buf, 10, value);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_named_value_int_t packet;
|
||||
packet.value = value;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a named_value_int message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param name Name of the debug variable
|
||||
* @param value Signed integer value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
const char *name,int32_t value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_int32_t(buf, 10, value);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_named_value_int_t packet;
|
||||
packet.value = value;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a named_value_int struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param named_value_int C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int)
|
||||
{
|
||||
return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->name, named_value_int->value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a named_value_int message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param name Name of the debug variable
|
||||
* @param value Signed integer value
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, const char *name, int32_t value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_int32_t(buf, 10, value);
|
||||
_mav_put_char_array(buf, 0, name, 10);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, 14);
|
||||
#else
|
||||
mavlink_named_value_int_t packet;
|
||||
packet.value = value;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*10);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, 14);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE NAMED_VALUE_INT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field name from named_value_int message
|
||||
*
|
||||
* @return Name of the debug variable
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char *name)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, name, 10, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field value from named_value_int message
|
||||
*
|
||||
* @return Signed integer value
|
||||
*/
|
||||
static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int32_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a named_value_int message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param named_value_int C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mavlink_msg_named_value_int_get_name(msg, named_value_int->name);
|
||||
named_value_int->value = mavlink_msg_named_value_int_get_value(msg);
|
||||
#else
|
||||
memcpy(named_value_int, _MAV_PAYLOAD(msg), 14);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,298 @@
|
||||
// MESSAGE NAV_CONTROLLER_OUTPUT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
|
||||
|
||||
typedef struct __mavlink_nav_controller_output_t
|
||||
{
|
||||
float nav_roll; ///< Current desired roll in degrees
|
||||
float nav_pitch; ///< Current desired pitch in degrees
|
||||
int16_t nav_bearing; ///< Current desired heading in degrees
|
||||
int16_t target_bearing; ///< Bearing to current waypoint/target in degrees
|
||||
uint16_t wp_dist; ///< Distance to active waypoint in meters
|
||||
float alt_error; ///< Current altitude error in meters
|
||||
float aspd_error; ///< Current airspeed error in meters/second
|
||||
float xtrack_error; ///< Current crosstrack error on x-y plane in meters
|
||||
} mavlink_nav_controller_output_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
|
||||
#define MAVLINK_MSG_ID_62_LEN 26
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
|
||||
"NAV_CONTROLLER_OUTPUT", \
|
||||
8, \
|
||||
{ { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
|
||||
{ "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
|
||||
{ "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
|
||||
{ "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
|
||||
{ "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
|
||||
{ "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
|
||||
{ "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 18, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
|
||||
{ "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 22, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a nav_controller_output message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param nav_roll Current desired roll in degrees
|
||||
* @param nav_pitch Current desired pitch in degrees
|
||||
* @param nav_bearing Current desired heading in degrees
|
||||
* @param target_bearing Bearing to current waypoint/target in degrees
|
||||
* @param wp_dist Distance to active waypoint in meters
|
||||
* @param alt_error Current altitude error in meters
|
||||
* @param aspd_error Current airspeed error in meters/second
|
||||
* @param xtrack_error Current crosstrack error on x-y plane in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_float(buf, 0, nav_roll);
|
||||
_mav_put_float(buf, 4, nav_pitch);
|
||||
_mav_put_int16_t(buf, 8, nav_bearing);
|
||||
_mav_put_int16_t(buf, 10, target_bearing);
|
||||
_mav_put_uint16_t(buf, 12, wp_dist);
|
||||
_mav_put_float(buf, 14, alt_error);
|
||||
_mav_put_float(buf, 18, aspd_error);
|
||||
_mav_put_float(buf, 22, xtrack_error);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_nav_controller_output_t packet;
|
||||
packet.nav_roll = nav_roll;
|
||||
packet.nav_pitch = nav_pitch;
|
||||
packet.nav_bearing = nav_bearing;
|
||||
packet.target_bearing = target_bearing;
|
||||
packet.wp_dist = wp_dist;
|
||||
packet.alt_error = alt_error;
|
||||
packet.aspd_error = aspd_error;
|
||||
packet.xtrack_error = xtrack_error;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a nav_controller_output message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param nav_roll Current desired roll in degrees
|
||||
* @param nav_pitch Current desired pitch in degrees
|
||||
* @param nav_bearing Current desired heading in degrees
|
||||
* @param target_bearing Bearing to current waypoint/target in degrees
|
||||
* @param wp_dist Distance to active waypoint in meters
|
||||
* @param alt_error Current altitude error in meters
|
||||
* @param aspd_error Current airspeed error in meters/second
|
||||
* @param xtrack_error Current crosstrack error on x-y plane in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_float(buf, 0, nav_roll);
|
||||
_mav_put_float(buf, 4, nav_pitch);
|
||||
_mav_put_int16_t(buf, 8, nav_bearing);
|
||||
_mav_put_int16_t(buf, 10, target_bearing);
|
||||
_mav_put_uint16_t(buf, 12, wp_dist);
|
||||
_mav_put_float(buf, 14, alt_error);
|
||||
_mav_put_float(buf, 18, aspd_error);
|
||||
_mav_put_float(buf, 22, xtrack_error);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_nav_controller_output_t packet;
|
||||
packet.nav_roll = nav_roll;
|
||||
packet.nav_pitch = nav_pitch;
|
||||
packet.nav_bearing = nav_bearing;
|
||||
packet.target_bearing = target_bearing;
|
||||
packet.wp_dist = wp_dist;
|
||||
packet.alt_error = alt_error;
|
||||
packet.aspd_error = aspd_error;
|
||||
packet.xtrack_error = xtrack_error;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a nav_controller_output struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param nav_controller_output C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
|
||||
{
|
||||
return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a nav_controller_output message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param nav_roll Current desired roll in degrees
|
||||
* @param nav_pitch Current desired pitch in degrees
|
||||
* @param nav_bearing Current desired heading in degrees
|
||||
* @param target_bearing Bearing to current waypoint/target in degrees
|
||||
* @param wp_dist Distance to active waypoint in meters
|
||||
* @param alt_error Current altitude error in meters
|
||||
* @param aspd_error Current airspeed error in meters/second
|
||||
* @param xtrack_error Current crosstrack error on x-y plane in meters
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_float(buf, 0, nav_roll);
|
||||
_mav_put_float(buf, 4, nav_pitch);
|
||||
_mav_put_int16_t(buf, 8, nav_bearing);
|
||||
_mav_put_int16_t(buf, 10, target_bearing);
|
||||
_mav_put_uint16_t(buf, 12, wp_dist);
|
||||
_mav_put_float(buf, 14, alt_error);
|
||||
_mav_put_float(buf, 18, aspd_error);
|
||||
_mav_put_float(buf, 22, xtrack_error);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26);
|
||||
#else
|
||||
mavlink_nav_controller_output_t packet;
|
||||
packet.nav_roll = nav_roll;
|
||||
packet.nav_pitch = nav_pitch;
|
||||
packet.nav_bearing = nav_bearing;
|
||||
packet.target_bearing = target_bearing;
|
||||
packet.wp_dist = wp_dist;
|
||||
packet.alt_error = alt_error;
|
||||
packet.aspd_error = aspd_error;
|
||||
packet.xtrack_error = xtrack_error;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field nav_roll from nav_controller_output message
|
||||
*
|
||||
* @return Current desired roll in degrees
|
||||
*/
|
||||
static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field nav_pitch from nav_controller_output message
|
||||
*
|
||||
* @return Current desired pitch in degrees
|
||||
*/
|
||||
static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field nav_bearing from nav_controller_output message
|
||||
*
|
||||
* @return Current desired heading in degrees
|
||||
*/
|
||||
static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_bearing from nav_controller_output message
|
||||
*
|
||||
* @return Bearing to current waypoint/target in degrees
|
||||
*/
|
||||
static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field wp_dist from nav_controller_output message
|
||||
*
|
||||
* @return Distance to active waypoint in meters
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field alt_error from nav_controller_output message
|
||||
*
|
||||
* @return Current altitude error in meters
|
||||
*/
|
||||
static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field aspd_error from nav_controller_output message
|
||||
*
|
||||
* @return Current airspeed error in meters/second
|
||||
*/
|
||||
static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xtrack_error from nav_controller_output message
|
||||
*
|
||||
* @return Current crosstrack error on x-y plane in meters
|
||||
*/
|
||||
static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 22);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a nav_controller_output message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param nav_controller_output C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
|
||||
nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
|
||||
nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
|
||||
nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
|
||||
nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
|
||||
nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
|
||||
nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
|
||||
nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
|
||||
#else
|
||||
memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,270 @@
|
||||
// MESSAGE OBJECT_DETECTION_EVENT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140
|
||||
|
||||
typedef struct __mavlink_object_detection_event_t
|
||||
{
|
||||
uint32_t time; ///< Timestamp in milliseconds since system boot
|
||||
uint16_t object_id; ///< Object ID
|
||||
uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
|
||||
char name[20]; ///< Name of the object as defined by the detector
|
||||
uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence
|
||||
float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
|
||||
float distance; ///< Ground distance in meters
|
||||
} mavlink_object_detection_event_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT_LEN 36
|
||||
#define MAVLINK_MSG_ID_140_LEN 36
|
||||
|
||||
#define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT { \
|
||||
"OBJECT_DETECTION_EVENT", \
|
||||
7, \
|
||||
{ { "time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_object_detection_event_t, time) }, \
|
||||
{ "object_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_object_detection_event_t, object_id) }, \
|
||||
{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_object_detection_event_t, type) }, \
|
||||
{ "name", NULL, MAVLINK_TYPE_CHAR, 20, 7, offsetof(mavlink_object_detection_event_t, name) }, \
|
||||
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_object_detection_event_t, quality) }, \
|
||||
{ "bearing", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_object_detection_event_t, bearing) }, \
|
||||
{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_object_detection_event_t, distance) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a object_detection_event message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time Timestamp in milliseconds since system boot
|
||||
* @param object_id Object ID
|
||||
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
|
||||
* @param name Name of the object as defined by the detector
|
||||
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
|
||||
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
|
||||
* @param distance Ground distance in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_uint32_t(buf, 0, time);
|
||||
_mav_put_uint16_t(buf, 4, object_id);
|
||||
_mav_put_uint8_t(buf, 6, type);
|
||||
_mav_put_uint8_t(buf, 27, quality);
|
||||
_mav_put_float(buf, 28, bearing);
|
||||
_mav_put_float(buf, 32, distance);
|
||||
_mav_put_char_array(buf, 7, name, 20);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 36);
|
||||
#else
|
||||
mavlink_object_detection_event_t packet;
|
||||
packet.time = time;
|
||||
packet.object_id = object_id;
|
||||
packet.type = type;
|
||||
packet.quality = quality;
|
||||
packet.bearing = bearing;
|
||||
packet.distance = distance;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*20);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a object_detection_event message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time Timestamp in milliseconds since system boot
|
||||
* @param object_id Object ID
|
||||
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
|
||||
* @param name Name of the object as defined by the detector
|
||||
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
|
||||
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
|
||||
* @param distance Ground distance in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint32_t time,uint16_t object_id,uint8_t type,const char *name,uint8_t quality,float bearing,float distance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_uint32_t(buf, 0, time);
|
||||
_mav_put_uint16_t(buf, 4, object_id);
|
||||
_mav_put_uint8_t(buf, 6, type);
|
||||
_mav_put_uint8_t(buf, 27, quality);
|
||||
_mav_put_float(buf, 28, bearing);
|
||||
_mav_put_float(buf, 32, distance);
|
||||
_mav_put_char_array(buf, 7, name, 20);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 36);
|
||||
#else
|
||||
mavlink_object_detection_event_t packet;
|
||||
packet.time = time;
|
||||
packet.object_id = object_id;
|
||||
packet.type = type;
|
||||
packet.quality = quality;
|
||||
packet.bearing = bearing;
|
||||
packet.distance = distance;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*20);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 36);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a object_detection_event struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param object_detection_event C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event)
|
||||
{
|
||||
return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a object_detection_event message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time Timestamp in milliseconds since system boot
|
||||
* @param object_id Object ID
|
||||
* @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
|
||||
* @param name Name of the object as defined by the detector
|
||||
* @param quality Detection quality / confidence. 0: bad, 255: maximum confidence
|
||||
* @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
|
||||
* @param distance Ground distance in meters
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[36];
|
||||
_mav_put_uint32_t(buf, 0, time);
|
||||
_mav_put_uint16_t(buf, 4, object_id);
|
||||
_mav_put_uint8_t(buf, 6, type);
|
||||
_mav_put_uint8_t(buf, 27, quality);
|
||||
_mav_put_float(buf, 28, bearing);
|
||||
_mav_put_float(buf, 32, distance);
|
||||
_mav_put_char_array(buf, 7, name, 20);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, buf, 36);
|
||||
#else
|
||||
mavlink_object_detection_event_t packet;
|
||||
packet.time = time;
|
||||
packet.object_id = object_id;
|
||||
packet.type = type;
|
||||
packet.quality = quality;
|
||||
packet.bearing = bearing;
|
||||
packet.distance = distance;
|
||||
mav_array_memcpy(packet.name, name, sizeof(char)*20);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, (const char *)&packet, 36);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE OBJECT_DETECTION_EVENT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time from object_detection_event message
|
||||
*
|
||||
* @return Timestamp in milliseconds since system boot
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field object_id from object_detection_event message
|
||||
*
|
||||
* @return Object ID
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field type from object_detection_event message
|
||||
*
|
||||
* @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field name from object_detection_event message
|
||||
*
|
||||
* @return Name of the object as defined by the detector
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char *name)
|
||||
{
|
||||
return _MAV_RETURN_char_array(msg, name, 20, 7);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field quality from object_detection_event message
|
||||
*
|
||||
* @return Detection quality / confidence. 0: bad, 255: maximum confidence
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 27);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field bearing from object_detection_event message
|
||||
*
|
||||
* @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front
|
||||
*/
|
||||
static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 28);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field distance from object_detection_event message
|
||||
*
|
||||
* @return Ground distance in meters
|
||||
*/
|
||||
static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 32);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a object_detection_event message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param object_detection_event C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg);
|
||||
object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg);
|
||||
object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg);
|
||||
mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name);
|
||||
object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg);
|
||||
object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg);
|
||||
object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg);
|
||||
#else
|
||||
memcpy(object_detection_event, _MAV_PAYLOAD(msg), 36);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,254 @@
|
||||
// MESSAGE OPTICAL_FLOW PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
|
||||
|
||||
typedef struct __mavlink_optical_flow_t
|
||||
{
|
||||
uint64_t time; ///< Timestamp (UNIX)
|
||||
uint8_t sensor_id; ///< Sensor ID
|
||||
int16_t flow_x; ///< Flow in pixels in x-sensor direction
|
||||
int16_t flow_y; ///< Flow in pixels in y-sensor direction
|
||||
uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
|
||||
float ground_distance; ///< Ground distance in meters
|
||||
} mavlink_optical_flow_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18
|
||||
#define MAVLINK_MSG_ID_100_LEN 18
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
|
||||
"OPTICAL_FLOW", \
|
||||
6, \
|
||||
{ { "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time) }, \
|
||||
{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_optical_flow_t, sensor_id) }, \
|
||||
{ "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 9, offsetof(mavlink_optical_flow_t, flow_x) }, \
|
||||
{ "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 11, offsetof(mavlink_optical_flow_t, flow_y) }, \
|
||||
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_optical_flow_t, quality) }, \
|
||||
{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 14, offsetof(mavlink_optical_flow_t, ground_distance) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a optical_flow message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time Timestamp (UNIX)
|
||||
* @param sensor_id Sensor ID
|
||||
* @param flow_x Flow in pixels in x-sensor direction
|
||||
* @param flow_y Flow in pixels in y-sensor direction
|
||||
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
|
||||
* @param ground_distance Ground distance in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint64_t(buf, 0, time);
|
||||
_mav_put_uint8_t(buf, 8, sensor_id);
|
||||
_mav_put_int16_t(buf, 9, flow_x);
|
||||
_mav_put_int16_t(buf, 11, flow_y);
|
||||
_mav_put_uint8_t(buf, 13, quality);
|
||||
_mav_put_float(buf, 14, ground_distance);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_optical_flow_t packet;
|
||||
packet.time = time;
|
||||
packet.sensor_id = sensor_id;
|
||||
packet.flow_x = flow_x;
|
||||
packet.flow_y = flow_y;
|
||||
packet.quality = quality;
|
||||
packet.ground_distance = ground_distance;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a optical_flow message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time Timestamp (UNIX)
|
||||
* @param sensor_id Sensor ID
|
||||
* @param flow_x Flow in pixels in x-sensor direction
|
||||
* @param flow_y Flow in pixels in y-sensor direction
|
||||
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
|
||||
* @param ground_distance Ground distance in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t time,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint64_t(buf, 0, time);
|
||||
_mav_put_uint8_t(buf, 8, sensor_id);
|
||||
_mav_put_int16_t(buf, 9, flow_x);
|
||||
_mav_put_int16_t(buf, 11, flow_y);
|
||||
_mav_put_uint8_t(buf, 13, quality);
|
||||
_mav_put_float(buf, 14, ground_distance);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_optical_flow_t packet;
|
||||
packet.time = time;
|
||||
packet.sensor_id = sensor_id;
|
||||
packet.flow_x = flow_x;
|
||||
packet.flow_y = flow_y;
|
||||
packet.quality = quality;
|
||||
packet.ground_distance = ground_distance;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a optical_flow struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param optical_flow C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
|
||||
{
|
||||
return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a optical_flow message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time Timestamp (UNIX)
|
||||
* @param sensor_id Sensor ID
|
||||
* @param flow_x Flow in pixels in x-sensor direction
|
||||
* @param flow_y Flow in pixels in y-sensor direction
|
||||
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
|
||||
* @param ground_distance Ground distance in meters
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint64_t(buf, 0, time);
|
||||
_mav_put_uint8_t(buf, 8, sensor_id);
|
||||
_mav_put_int16_t(buf, 9, flow_x);
|
||||
_mav_put_int16_t(buf, 11, flow_y);
|
||||
_mav_put_uint8_t(buf, 13, quality);
|
||||
_mav_put_float(buf, 14, ground_distance);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18);
|
||||
#else
|
||||
mavlink_optical_flow_t packet;
|
||||
packet.time = time;
|
||||
packet.sensor_id = sensor_id;
|
||||
packet.flow_x = flow_x;
|
||||
packet.flow_y = flow_y;
|
||||
packet.quality = quality;
|
||||
packet.ground_distance = ground_distance;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE OPTICAL_FLOW UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time from optical_flow message
|
||||
*
|
||||
* @return Timestamp (UNIX)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field sensor_id from optical_flow message
|
||||
*
|
||||
* @return Sensor ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field flow_x from optical_flow message
|
||||
*
|
||||
* @return Flow in pixels in x-sensor direction
|
||||
*/
|
||||
static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field flow_y from optical_flow message
|
||||
*
|
||||
* @return Flow in pixels in y-sensor direction
|
||||
*/
|
||||
static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 11);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field quality from optical_flow message
|
||||
*
|
||||
* @return Optical flow quality / confidence. 0: bad, 255: maximum quality
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ground_distance from optical_flow message
|
||||
*
|
||||
* @return Ground distance in meters
|
||||
*/
|
||||
static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a optical_flow message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param optical_flow C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
optical_flow->time = mavlink_msg_optical_flow_get_time(msg);
|
||||
optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
|
||||
optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
|
||||
optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
|
||||
optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
|
||||
optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
|
||||
#else
|
||||
memcpy(optical_flow, _MAV_PAYLOAD(msg), 18);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE PARAM_REQUEST_LIST PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21
|
||||
|
||||
typedef struct __mavlink_param_request_list_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
} mavlink_param_request_list_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2
|
||||
#define MAVLINK_MSG_ID_21_LEN 2
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \
|
||||
"PARAM_REQUEST_LIST", \
|
||||
2, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a param_request_list message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 2);
|
||||
#else
|
||||
mavlink_param_request_list_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a param_request_list message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 2);
|
||||
#else
|
||||
mavlink_param_request_list_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a param_request_list struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param param_request_list C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list)
|
||||
{
|
||||
return mavlink_msg_param_request_list_pack(system_id, component_id, msg, param_request_list->target_system, param_request_list->target_component);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a param_request_list message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, 2);
|
||||
#else
|
||||
mavlink_param_request_list_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, 2);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE PARAM_REQUEST_LIST UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from param_request_list message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from param_request_list message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a param_request_list message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param param_request_list C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg);
|
||||
param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg);
|
||||
#else
|
||||
memcpy(param_request_list, _MAV_PAYLOAD(msg), 2);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,204 @@
|
||||
// MESSAGE PARAM_REQUEST_READ PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_REQUEST_READ 20
|
||||
|
||||
typedef struct __mavlink_param_request_read_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
int8_t param_id[15]; ///< Onboard parameter id
|
||||
int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier
|
||||
} mavlink_param_request_read_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 19
|
||||
#define MAVLINK_MSG_ID_20_LEN 19
|
||||
|
||||
#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 15
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ { \
|
||||
"PARAM_REQUEST_READ", \
|
||||
4, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_read_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_read_t, target_component) }, \
|
||||
{ "param_id", NULL, MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_request_read_t, param_id) }, \
|
||||
{ "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 17, offsetof(mavlink_param_request_read_t, param_index) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a param_request_read message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_index Parameter index. Send -1 to use the param ID field as identifier
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, const int8_t *param_id, int16_t param_index)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[19];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int16_t(buf, 17, param_index);
|
||||
_mav_put_int8_t_array(buf, 2, param_id, 15);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 19);
|
||||
#else
|
||||
mavlink_param_request_read_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.param_index = param_index;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 19);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 19);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a param_request_read message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_index Parameter index. Send -1 to use the param ID field as identifier
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_read_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,const int8_t *param_id,int16_t param_index)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[19];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int16_t(buf, 17, param_index);
|
||||
_mav_put_int8_t_array(buf, 2, param_id, 15);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 19);
|
||||
#else
|
||||
mavlink_param_request_read_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.param_index = param_index;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 19);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a param_request_read struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param param_request_read C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_read_t* param_request_read)
|
||||
{
|
||||
return mavlink_msg_param_request_read_pack(system_id, component_id, msg, param_request_read->target_system, param_request_read->target_component, param_request_read->param_id, param_request_read->param_index);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a param_request_read message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_index Parameter index. Send -1 to use the param ID field as identifier
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, int16_t param_index)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[19];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_int16_t(buf, 17, param_index);
|
||||
_mav_put_int8_t_array(buf, 2, param_id, 15);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, 19);
|
||||
#else
|
||||
mavlink_param_request_read_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.param_index = param_index;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, 19);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE PARAM_REQUEST_READ UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from param_request_read message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from param_request_read message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_param_request_read_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_id from param_request_read message
|
||||
*
|
||||
* @return Onboard parameter id
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_index from param_request_read message
|
||||
*
|
||||
* @return Parameter index. Send -1 to use the param ID field as identifier
|
||||
*/
|
||||
static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a param_request_read message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param param_request_read C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_param_request_read_decode(const mavlink_message_t* msg, mavlink_param_request_read_t* param_request_read)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
param_request_read->target_system = mavlink_msg_param_request_read_get_target_system(msg);
|
||||
param_request_read->target_component = mavlink_msg_param_request_read_get_target_component(msg);
|
||||
mavlink_msg_param_request_read_get_param_id(msg, param_request_read->param_id);
|
||||
param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg);
|
||||
#else
|
||||
memcpy(param_request_read, _MAV_PAYLOAD(msg), 19);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,204 @@
|
||||
// MESSAGE PARAM_SET PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_SET 23
|
||||
|
||||
typedef struct __mavlink_param_set_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
int8_t param_id[15]; ///< Onboard parameter id
|
||||
float param_value; ///< Onboard parameter value
|
||||
} mavlink_param_set_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_SET_LEN 21
|
||||
#define MAVLINK_MSG_ID_23_LEN 21
|
||||
|
||||
#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_PARAM_SET { \
|
||||
"PARAM_SET", \
|
||||
4, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_set_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_set_t, target_component) }, \
|
||||
{ "param_id", NULL, MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_set_t, param_id) }, \
|
||||
{ "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_param_set_t, param_value) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a param_set message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_value Onboard parameter value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[21];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_float(buf, 17, param_value);
|
||||
_mav_put_int8_t_array(buf, 2, param_id, 15);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 21);
|
||||
#else
|
||||
mavlink_param_set_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.param_value = param_value;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a param_set message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_value Onboard parameter value
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,const int8_t *param_id,float param_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[21];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_float(buf, 17, param_value);
|
||||
_mav_put_int8_t_array(buf, 2, param_id, 15);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 21);
|
||||
#else
|
||||
mavlink_param_set_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.param_value = param_value;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 21);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a param_set struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param param_set C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
|
||||
{
|
||||
return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a param_set message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_value Onboard parameter value
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[21];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_float(buf, 17, param_value);
|
||||
_mav_put_int8_t_array(buf, 2, param_id, 15);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, 21);
|
||||
#else
|
||||
mavlink_param_set_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.param_value = param_value;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, 21);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE PARAM_SET UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from param_set message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from param_set message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_id from param_set message
|
||||
*
|
||||
* @return Onboard parameter id
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_value from param_set message
|
||||
*
|
||||
* @return Onboard parameter value
|
||||
*/
|
||||
static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a param_set message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param param_set C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
|
||||
param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
|
||||
mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
|
||||
param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
|
||||
#else
|
||||
memcpy(param_set, _MAV_PAYLOAD(msg), 21);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,204 @@
|
||||
// MESSAGE PARAM_VALUE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_VALUE 22
|
||||
|
||||
typedef struct __mavlink_param_value_t
|
||||
{
|
||||
int8_t param_id[15]; ///< Onboard parameter id
|
||||
float param_value; ///< Onboard parameter value
|
||||
uint16_t param_count; ///< Total number of onboard parameters
|
||||
uint16_t param_index; ///< Index of this onboard parameter
|
||||
} mavlink_param_value_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 23
|
||||
#define MAVLINK_MSG_ID_22_LEN 23
|
||||
|
||||
#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
|
||||
"PARAM_VALUE", \
|
||||
4, \
|
||||
{ { "param_id", NULL, MAVLINK_TYPE_INT8_T, 15, 0, offsetof(mavlink_param_value_t, param_id) }, \
|
||||
{ "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_param_value_t, param_value) }, \
|
||||
{ "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 19, offsetof(mavlink_param_value_t, param_count) }, \
|
||||
{ "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 21, offsetof(mavlink_param_value_t, param_index) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a param_value message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_value Onboard parameter value
|
||||
* @param param_count Total number of onboard parameters
|
||||
* @param param_index Index of this onboard parameter
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[23];
|
||||
_mav_put_float(buf, 15, param_value);
|
||||
_mav_put_uint16_t(buf, 19, param_count);
|
||||
_mav_put_uint16_t(buf, 21, param_index);
|
||||
_mav_put_int8_t_array(buf, 0, param_id, 15);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 23);
|
||||
#else
|
||||
mavlink_param_value_t packet;
|
||||
packet.param_value = param_value;
|
||||
packet.param_count = param_count;
|
||||
packet.param_index = param_index;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 23);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 23);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a param_value message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_value Onboard parameter value
|
||||
* @param param_count Total number of onboard parameters
|
||||
* @param param_index Index of this onboard parameter
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
const int8_t *param_id,float param_value,uint16_t param_count,uint16_t param_index)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[23];
|
||||
_mav_put_float(buf, 15, param_value);
|
||||
_mav_put_uint16_t(buf, 19, param_count);
|
||||
_mav_put_uint16_t(buf, 21, param_index);
|
||||
_mav_put_int8_t_array(buf, 0, param_id, 15);
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 23);
|
||||
#else
|
||||
mavlink_param_value_t packet;
|
||||
packet.param_value = param_value;
|
||||
packet.param_count = param_count;
|
||||
packet.param_index = param_index;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 23);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 23);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a param_value struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param param_value C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
|
||||
{
|
||||
return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a param_value message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param param_id Onboard parameter id
|
||||
* @param param_value Onboard parameter value
|
||||
* @param param_count Total number of onboard parameters
|
||||
* @param param_index Index of this onboard parameter
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[23];
|
||||
_mav_put_float(buf, 15, param_value);
|
||||
_mav_put_uint16_t(buf, 19, param_count);
|
||||
_mav_put_uint16_t(buf, 21, param_index);
|
||||
_mav_put_int8_t_array(buf, 0, param_id, 15);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, 23);
|
||||
#else
|
||||
mavlink_param_value_t packet;
|
||||
packet.param_value = param_value;
|
||||
packet.param_count = param_count;
|
||||
packet.param_index = param_index;
|
||||
mav_array_memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, 23);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE PARAM_VALUE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field param_id from param_value message
|
||||
*
|
||||
* @return Onboard parameter id
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
|
||||
{
|
||||
return _MAV_RETURN_int8_t_array(msg, param_id, 15, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_value from param_value message
|
||||
*
|
||||
* @return Onboard parameter value
|
||||
*/
|
||||
static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 15);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_count from param_value message
|
||||
*
|
||||
* @return Total number of onboard parameters
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 19);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field param_index from param_value message
|
||||
*
|
||||
* @return Index of this onboard parameter
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a param_value message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param param_value C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
|
||||
param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
|
||||
param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
|
||||
param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
|
||||
#else
|
||||
memcpy(param_value, _MAV_PAYLOAD(msg), 23);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
// MESSAGE PING PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_PING 3
|
||||
|
||||
typedef struct __mavlink_ping_t
|
||||
{
|
||||
uint32_t seq; ///< PING sequence
|
||||
uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
uint64_t time; ///< Unix timestamp in microseconds
|
||||
} mavlink_ping_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_PING_LEN 14
|
||||
#define MAVLINK_MSG_ID_3_LEN 14
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_PING { \
|
||||
"PING", \
|
||||
4, \
|
||||
{ { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ping_t, seq) }, \
|
||||
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_ping_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_ping_t, target_component) }, \
|
||||
{ "time", NULL, MAVLINK_TYPE_UINT64_T, 0, 6, offsetof(mavlink_ping_t, time) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a ping message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param seq PING sequence
|
||||
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
* @param time Unix timestamp in microseconds
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint32_t(buf, 0, seq);
|
||||
_mav_put_uint8_t(buf, 4, target_system);
|
||||
_mav_put_uint8_t(buf, 5, target_component);
|
||||
_mav_put_uint64_t(buf, 6, time);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_ping_t packet;
|
||||
packet.seq = seq;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.time = time;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PING;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a ping message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param seq PING sequence
|
||||
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
* @param time Unix timestamp in microseconds
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint32_t seq,uint8_t target_system,uint8_t target_component,uint64_t time)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint32_t(buf, 0, seq);
|
||||
_mav_put_uint8_t(buf, 4, target_system);
|
||||
_mav_put_uint8_t(buf, 5, target_component);
|
||||
_mav_put_uint64_t(buf, 6, time);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 14);
|
||||
#else
|
||||
mavlink_ping_t packet;
|
||||
packet.seq = seq;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.time = time;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 14);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_PING;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a ping struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param ping C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
|
||||
{
|
||||
return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a ping message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param seq PING sequence
|
||||
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
* @param time Unix timestamp in microseconds
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[14];
|
||||
_mav_put_uint32_t(buf, 0, seq);
|
||||
_mav_put_uint8_t(buf, 4, target_system);
|
||||
_mav_put_uint8_t(buf, 5, target_component);
|
||||
_mav_put_uint64_t(buf, 6, time);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, 14);
|
||||
#else
|
||||
mavlink_ping_t packet;
|
||||
packet.seq = seq;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.time = time;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, 14);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE PING UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field seq from ping message
|
||||
*
|
||||
* @return PING sequence
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from ping message
|
||||
*
|
||||
* @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from ping message
|
||||
*
|
||||
* @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field time from ping message
|
||||
*
|
||||
* @return Unix timestamp in microseconds
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a ping message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param ping C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
ping->seq = mavlink_msg_ping_get_seq(msg);
|
||||
ping->target_system = mavlink_msg_ping_get_target_system(msg);
|
||||
ping->target_component = mavlink_msg_ping_get_target_component(msg);
|
||||
ping->time = mavlink_msg_ping_get_time(msg);
|
||||
#else
|
||||
memcpy(ping, _MAV_PAYLOAD(msg), 14);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
// MESSAGE POSITION_TARGET PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_POSITION_TARGET 63
|
||||
|
||||
typedef struct __mavlink_position_target_t
|
||||
{
|
||||
float x; ///< x position
|
||||
float y; ///< y position
|
||||
float z; ///< z position
|
||||
float yaw; ///< yaw orientation in radians, 0 = NORTH
|
||||
} mavlink_position_target_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_POSITION_TARGET_LEN 16
|
||||
#define MAVLINK_MSG_ID_63_LEN 16
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_POSITION_TARGET { \
|
||||
"POSITION_TARGET", \
|
||||
4, \
|
||||
{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_target_t, x) }, \
|
||||
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_t, y) }, \
|
||||
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_t, z) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_t, yaw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a position_target message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw yaw orientation in radians, 0 = NORTH
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
float x, float y, float z, float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_float(buf, 0, x);
|
||||
_mav_put_float(buf, 4, y);
|
||||
_mav_put_float(buf, 8, z);
|
||||
_mav_put_float(buf, 12, yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_position_target_t packet;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a position_target message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw yaw orientation in radians, 0 = NORTH
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
float x,float y,float z,float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_float(buf, 0, x);
|
||||
_mav_put_float(buf, 4, y);
|
||||
_mav_put_float(buf, 8, z);
|
||||
_mav_put_float(buf, 12, yaw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_position_target_t packet;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a position_target struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param position_target C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
|
||||
{
|
||||
return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a position_target message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param x x position
|
||||
* @param y y position
|
||||
* @param z z position
|
||||
* @param yaw yaw orientation in radians, 0 = NORTH
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_float(buf, 0, x);
|
||||
_mav_put_float(buf, 4, y);
|
||||
_mav_put_float(buf, 8, z);
|
||||
_mav_put_float(buf, 12, yaw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, buf, 16);
|
||||
#else
|
||||
mavlink_position_target_t packet;
|
||||
packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.yaw = yaw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET, (const char *)&packet, 16);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE POSITION_TARGET UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field x from position_target message
|
||||
*
|
||||
* @return x position
|
||||
*/
|
||||
static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from position_target message
|
||||
*
|
||||
* @return y position
|
||||
*/
|
||||
static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from position_target message
|
||||
*
|
||||
* @return z position
|
||||
*/
|
||||
static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from position_target message
|
||||
*
|
||||
* @return yaw orientation in radians, 0 = NORTH
|
||||
*/
|
||||
static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a position_target message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param position_target C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
position_target->x = mavlink_msg_position_target_get_x(msg);
|
||||
position_target->y = mavlink_msg_position_target_get_y(msg);
|
||||
position_target->z = mavlink_msg_position_target_get_z(msg);
|
||||
position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
|
||||
#else
|
||||
memcpy(position_target, _MAV_PAYLOAD(msg), 16);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,342 @@
|
||||
// MESSAGE RAW_IMU PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_RAW_IMU 28
|
||||
|
||||
typedef struct __mavlink_raw_imu_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
int16_t xacc; ///< X acceleration (raw)
|
||||
int16_t yacc; ///< Y acceleration (raw)
|
||||
int16_t zacc; ///< Z acceleration (raw)
|
||||
int16_t xgyro; ///< Angular speed around X axis (raw)
|
||||
int16_t ygyro; ///< Angular speed around Y axis (raw)
|
||||
int16_t zgyro; ///< Angular speed around Z axis (raw)
|
||||
int16_t xmag; ///< X Magnetic field (raw)
|
||||
int16_t ymag; ///< Y Magnetic field (raw)
|
||||
int16_t zmag; ///< Z Magnetic field (raw)
|
||||
} mavlink_raw_imu_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
|
||||
#define MAVLINK_MSG_ID_28_LEN 26
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
|
||||
"RAW_IMU", \
|
||||
10, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, usec) }, \
|
||||
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
|
||||
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
|
||||
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
|
||||
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
|
||||
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
|
||||
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
|
||||
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
|
||||
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
|
||||
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a raw_imu message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param xacc X acceleration (raw)
|
||||
* @param yacc Y acceleration (raw)
|
||||
* @param zacc Z acceleration (raw)
|
||||
* @param xgyro Angular speed around X axis (raw)
|
||||
* @param ygyro Angular speed around Y axis (raw)
|
||||
* @param zgyro Angular speed around Z axis (raw)
|
||||
* @param xmag X Magnetic field (raw)
|
||||
* @param ymag Y Magnetic field (raw)
|
||||
* @param zmag Z Magnetic field (raw)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, xacc);
|
||||
_mav_put_int16_t(buf, 10, yacc);
|
||||
_mav_put_int16_t(buf, 12, zacc);
|
||||
_mav_put_int16_t(buf, 14, xgyro);
|
||||
_mav_put_int16_t(buf, 16, ygyro);
|
||||
_mav_put_int16_t(buf, 18, zgyro);
|
||||
_mav_put_int16_t(buf, 20, xmag);
|
||||
_mav_put_int16_t(buf, 22, ymag);
|
||||
_mav_put_int16_t(buf, 24, zmag);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_raw_imu_t packet;
|
||||
packet.usec = usec;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
packet.xmag = xmag;
|
||||
packet.ymag = ymag;
|
||||
packet.zmag = zmag;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a raw_imu message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param xacc X acceleration (raw)
|
||||
* @param yacc Y acceleration (raw)
|
||||
* @param zacc Z acceleration (raw)
|
||||
* @param xgyro Angular speed around X axis (raw)
|
||||
* @param ygyro Angular speed around Y axis (raw)
|
||||
* @param zgyro Angular speed around Z axis (raw)
|
||||
* @param xmag X Magnetic field (raw)
|
||||
* @param ymag Y Magnetic field (raw)
|
||||
* @param zmag Z Magnetic field (raw)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, xacc);
|
||||
_mav_put_int16_t(buf, 10, yacc);
|
||||
_mav_put_int16_t(buf, 12, zacc);
|
||||
_mav_put_int16_t(buf, 14, xgyro);
|
||||
_mav_put_int16_t(buf, 16, ygyro);
|
||||
_mav_put_int16_t(buf, 18, zgyro);
|
||||
_mav_put_int16_t(buf, 20, xmag);
|
||||
_mav_put_int16_t(buf, 22, ymag);
|
||||
_mav_put_int16_t(buf, 24, zmag);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_raw_imu_t packet;
|
||||
packet.usec = usec;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
packet.xmag = xmag;
|
||||
packet.ymag = ymag;
|
||||
packet.zmag = zmag;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a raw_imu struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param raw_imu C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
|
||||
{
|
||||
return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a raw_imu message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param xacc X acceleration (raw)
|
||||
* @param yacc Y acceleration (raw)
|
||||
* @param zacc Z acceleration (raw)
|
||||
* @param xgyro Angular speed around X axis (raw)
|
||||
* @param ygyro Angular speed around Y axis (raw)
|
||||
* @param zgyro Angular speed around Z axis (raw)
|
||||
* @param xmag X Magnetic field (raw)
|
||||
* @param ymag Y Magnetic field (raw)
|
||||
* @param zmag Z Magnetic field (raw)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, xacc);
|
||||
_mav_put_int16_t(buf, 10, yacc);
|
||||
_mav_put_int16_t(buf, 12, zacc);
|
||||
_mav_put_int16_t(buf, 14, xgyro);
|
||||
_mav_put_int16_t(buf, 16, ygyro);
|
||||
_mav_put_int16_t(buf, 18, zgyro);
|
||||
_mav_put_int16_t(buf, 20, xmag);
|
||||
_mav_put_int16_t(buf, 22, ymag);
|
||||
_mav_put_int16_t(buf, 24, zmag);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26);
|
||||
#else
|
||||
mavlink_raw_imu_t packet;
|
||||
packet.usec = usec;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
packet.xmag = xmag;
|
||||
packet.ymag = ymag;
|
||||
packet.zmag = zmag;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE RAW_IMU UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from raw_imu message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xacc from raw_imu message
|
||||
*
|
||||
* @return X acceleration (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yacc from raw_imu message
|
||||
*
|
||||
* @return Y acceleration (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zacc from raw_imu message
|
||||
*
|
||||
* @return Z acceleration (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xgyro from raw_imu message
|
||||
*
|
||||
* @return Angular speed around X axis (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ygyro from raw_imu message
|
||||
*
|
||||
* @return Angular speed around Y axis (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zgyro from raw_imu message
|
||||
*
|
||||
* @return Angular speed around Z axis (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xmag from raw_imu message
|
||||
*
|
||||
* @return X Magnetic field (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ymag from raw_imu message
|
||||
*
|
||||
* @return Y Magnetic field (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 22);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zmag from raw_imu message
|
||||
*
|
||||
* @return Z Magnetic field (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a raw_imu message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param raw_imu C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg);
|
||||
raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
|
||||
raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
|
||||
raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
|
||||
raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
|
||||
raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
|
||||
raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
|
||||
raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
|
||||
raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
|
||||
raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
|
||||
#else
|
||||
memcpy(raw_imu, _MAV_PAYLOAD(msg), 26);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE RAW_PRESSURE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_RAW_PRESSURE 29
|
||||
|
||||
typedef struct __mavlink_raw_pressure_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
int16_t press_abs; ///< Absolute pressure (raw)
|
||||
int16_t press_diff1; ///< Differential pressure 1 (raw)
|
||||
int16_t press_diff2; ///< Differential pressure 2 (raw)
|
||||
int16_t temperature; ///< Raw Temperature measurement (raw)
|
||||
} mavlink_raw_pressure_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_RAW_PRESSURE_LEN 16
|
||||
#define MAVLINK_MSG_ID_29_LEN 16
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_RAW_PRESSURE { \
|
||||
"RAW_PRESSURE", \
|
||||
5, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_pressure_t, usec) }, \
|
||||
{ "press_abs", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_pressure_t, press_abs) }, \
|
||||
{ "press_diff1", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_pressure_t, press_diff1) }, \
|
||||
{ "press_diff2", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_pressure_t, press_diff2) }, \
|
||||
{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_pressure_t, temperature) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a raw_pressure message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param press_abs Absolute pressure (raw)
|
||||
* @param press_diff1 Differential pressure 1 (raw)
|
||||
* @param press_diff2 Differential pressure 2 (raw)
|
||||
* @param temperature Raw Temperature measurement (raw)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, press_abs);
|
||||
_mav_put_int16_t(buf, 10, press_diff1);
|
||||
_mav_put_int16_t(buf, 12, press_diff2);
|
||||
_mav_put_int16_t(buf, 14, temperature);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_raw_pressure_t packet;
|
||||
packet.usec = usec;
|
||||
packet.press_abs = press_abs;
|
||||
packet.press_diff1 = press_diff1;
|
||||
packet.press_diff2 = press_diff2;
|
||||
packet.temperature = temperature;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a raw_pressure message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param press_abs Absolute pressure (raw)
|
||||
* @param press_diff1 Differential pressure 1 (raw)
|
||||
* @param press_diff2 Differential pressure 2 (raw)
|
||||
* @param temperature Raw Temperature measurement (raw)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,int16_t press_abs,int16_t press_diff1,int16_t press_diff2,int16_t temperature)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, press_abs);
|
||||
_mav_put_int16_t(buf, 10, press_diff1);
|
||||
_mav_put_int16_t(buf, 12, press_diff2);
|
||||
_mav_put_int16_t(buf, 14, temperature);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_raw_pressure_t packet;
|
||||
packet.usec = usec;
|
||||
packet.press_abs = press_abs;
|
||||
packet.press_diff1 = press_diff1;
|
||||
packet.press_diff2 = press_diff2;
|
||||
packet.temperature = temperature;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a raw_pressure struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param raw_pressure C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure)
|
||||
{
|
||||
return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a raw_pressure message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param press_abs Absolute pressure (raw)
|
||||
* @param press_diff1 Differential pressure 1 (raw)
|
||||
* @param press_diff2 Differential pressure 2 (raw)
|
||||
* @param temperature Raw Temperature measurement (raw)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, press_abs);
|
||||
_mav_put_int16_t(buf, 10, press_diff1);
|
||||
_mav_put_int16_t(buf, 12, press_diff2);
|
||||
_mav_put_int16_t(buf, 14, temperature);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, 16);
|
||||
#else
|
||||
mavlink_raw_pressure_t packet;
|
||||
packet.usec = usec;
|
||||
packet.press_abs = press_abs;
|
||||
packet.press_diff1 = press_diff1;
|
||||
packet.press_diff2 = press_diff2;
|
||||
packet.temperature = temperature;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, 16);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE RAW_PRESSURE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from raw_pressure message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_raw_pressure_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field press_abs from raw_pressure message
|
||||
*
|
||||
* @return Absolute pressure (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field press_diff1 from raw_pressure message
|
||||
*
|
||||
* @return Differential pressure 1 (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field press_diff2 from raw_pressure message
|
||||
*
|
||||
* @return Differential pressure 2 (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field temperature from raw_pressure message
|
||||
*
|
||||
* @return Raw Temperature measurement (raw)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a raw_pressure message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param raw_pressure C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_raw_pressure_decode(const mavlink_message_t* msg, mavlink_raw_pressure_t* raw_pressure)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
raw_pressure->usec = mavlink_msg_raw_pressure_get_usec(msg);
|
||||
raw_pressure->press_abs = mavlink_msg_raw_pressure_get_press_abs(msg);
|
||||
raw_pressure->press_diff1 = mavlink_msg_raw_pressure_get_press_diff1(msg);
|
||||
raw_pressure->press_diff2 = mavlink_msg_raw_pressure_get_press_diff2(msg);
|
||||
raw_pressure->temperature = mavlink_msg_raw_pressure_get_temperature(msg);
|
||||
#else
|
||||
memcpy(raw_pressure, _MAV_PAYLOAD(msg), 16);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,342 @@
|
||||
// MESSAGE RC_CHANNELS_OVERRIDE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70
|
||||
|
||||
typedef struct __mavlink_rc_channels_override_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
|
||||
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
|
||||
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
|
||||
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
|
||||
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
|
||||
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
|
||||
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
|
||||
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
|
||||
} mavlink_rc_channels_override_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN 18
|
||||
#define MAVLINK_MSG_ID_70_LEN 18
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE { \
|
||||
"RC_CHANNELS_OVERRIDE", \
|
||||
10, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rc_channels_override_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rc_channels_override_t, target_component) }, \
|
||||
{ "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_override_t, chan1_raw) }, \
|
||||
{ "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_override_t, chan2_raw) }, \
|
||||
{ "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_override_t, chan3_raw) }, \
|
||||
{ "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_override_t, chan4_raw) }, \
|
||||
{ "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_override_t, chan5_raw) }, \
|
||||
{ "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_override_t, chan6_raw) }, \
|
||||
{ "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_override_t, chan7_raw) }, \
|
||||
{ "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_override_t, chan8_raw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a rc_channels_override message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param chan1_raw RC channel 1 value, in microseconds
|
||||
* @param chan2_raw RC channel 2 value, in microseconds
|
||||
* @param chan3_raw RC channel 3 value, in microseconds
|
||||
* @param chan4_raw RC channel 4 value, in microseconds
|
||||
* @param chan5_raw RC channel 5 value, in microseconds
|
||||
* @param chan6_raw RC channel 6 value, in microseconds
|
||||
* @param chan7_raw RC channel 7 value, in microseconds
|
||||
* @param chan8_raw RC channel 8 value, in microseconds
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint16_t(buf, 2, chan1_raw);
|
||||
_mav_put_uint16_t(buf, 4, chan2_raw);
|
||||
_mav_put_uint16_t(buf, 6, chan3_raw);
|
||||
_mav_put_uint16_t(buf, 8, chan4_raw);
|
||||
_mav_put_uint16_t(buf, 10, chan5_raw);
|
||||
_mav_put_uint16_t(buf, 12, chan6_raw);
|
||||
_mav_put_uint16_t(buf, 14, chan7_raw);
|
||||
_mav_put_uint16_t(buf, 16, chan8_raw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_rc_channels_override_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.chan1_raw = chan1_raw;
|
||||
packet.chan2_raw = chan2_raw;
|
||||
packet.chan3_raw = chan3_raw;
|
||||
packet.chan4_raw = chan4_raw;
|
||||
packet.chan5_raw = chan5_raw;
|
||||
packet.chan6_raw = chan6_raw;
|
||||
packet.chan7_raw = chan7_raw;
|
||||
packet.chan8_raw = chan8_raw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a rc_channels_override message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param chan1_raw RC channel 1 value, in microseconds
|
||||
* @param chan2_raw RC channel 2 value, in microseconds
|
||||
* @param chan3_raw RC channel 3 value, in microseconds
|
||||
* @param chan4_raw RC channel 4 value, in microseconds
|
||||
* @param chan5_raw RC channel 5 value, in microseconds
|
||||
* @param chan6_raw RC channel 6 value, in microseconds
|
||||
* @param chan7_raw RC channel 7 value, in microseconds
|
||||
* @param chan8_raw RC channel 8 value, in microseconds
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint16_t(buf, 2, chan1_raw);
|
||||
_mav_put_uint16_t(buf, 4, chan2_raw);
|
||||
_mav_put_uint16_t(buf, 6, chan3_raw);
|
||||
_mav_put_uint16_t(buf, 8, chan4_raw);
|
||||
_mav_put_uint16_t(buf, 10, chan5_raw);
|
||||
_mav_put_uint16_t(buf, 12, chan6_raw);
|
||||
_mav_put_uint16_t(buf, 14, chan7_raw);
|
||||
_mav_put_uint16_t(buf, 16, chan8_raw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_rc_channels_override_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.chan1_raw = chan1_raw;
|
||||
packet.chan2_raw = chan2_raw;
|
||||
packet.chan3_raw = chan3_raw;
|
||||
packet.chan4_raw = chan4_raw;
|
||||
packet.chan5_raw = chan5_raw;
|
||||
packet.chan6_raw = chan6_raw;
|
||||
packet.chan7_raw = chan7_raw;
|
||||
packet.chan8_raw = chan8_raw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a rc_channels_override struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param rc_channels_override C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override)
|
||||
{
|
||||
return mavlink_msg_rc_channels_override_pack(system_id, component_id, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a rc_channels_override message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param chan1_raw RC channel 1 value, in microseconds
|
||||
* @param chan2_raw RC channel 2 value, in microseconds
|
||||
* @param chan3_raw RC channel 3 value, in microseconds
|
||||
* @param chan4_raw RC channel 4 value, in microseconds
|
||||
* @param chan5_raw RC channel 5 value, in microseconds
|
||||
* @param chan6_raw RC channel 6 value, in microseconds
|
||||
* @param chan7_raw RC channel 7 value, in microseconds
|
||||
* @param chan8_raw RC channel 8 value, in microseconds
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint16_t(buf, 2, chan1_raw);
|
||||
_mav_put_uint16_t(buf, 4, chan2_raw);
|
||||
_mav_put_uint16_t(buf, 6, chan3_raw);
|
||||
_mav_put_uint16_t(buf, 8, chan4_raw);
|
||||
_mav_put_uint16_t(buf, 10, chan5_raw);
|
||||
_mav_put_uint16_t(buf, 12, chan6_raw);
|
||||
_mav_put_uint16_t(buf, 14, chan7_raw);
|
||||
_mav_put_uint16_t(buf, 16, chan8_raw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, 18);
|
||||
#else
|
||||
mavlink_rc_channels_override_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.chan1_raw = chan1_raw;
|
||||
packet.chan2_raw = chan2_raw;
|
||||
packet.chan3_raw = chan3_raw;
|
||||
packet.chan4_raw = chan4_raw;
|
||||
packet.chan5_raw = chan5_raw;
|
||||
packet.chan6_raw = chan6_raw;
|
||||
packet.chan7_raw = chan7_raw;
|
||||
packet.chan8_raw = chan8_raw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, 18);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from rc_channels_override message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from rc_channels_override message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan1_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 1 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan2_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 2 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan3_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 3 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan4_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 4 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan5_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 5 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan6_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 6 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan7_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 7 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan8_raw from rc_channels_override message
|
||||
*
|
||||
* @return RC channel 8 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a rc_channels_override message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param rc_channels_override C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg);
|
||||
rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg);
|
||||
rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg);
|
||||
rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg);
|
||||
rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg);
|
||||
rc_channels_override->chan4_raw = mavlink_msg_rc_channels_override_get_chan4_raw(msg);
|
||||
rc_channels_override->chan5_raw = mavlink_msg_rc_channels_override_get_chan5_raw(msg);
|
||||
rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg);
|
||||
rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg);
|
||||
rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg);
|
||||
#else
|
||||
memcpy(rc_channels_override, _MAV_PAYLOAD(msg), 18);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
// MESSAGE RC_CHANNELS_RAW PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35
|
||||
|
||||
typedef struct __mavlink_rc_channels_raw_t
|
||||
{
|
||||
uint16_t chan1_raw; ///< RC channel 1 value, in microseconds
|
||||
uint16_t chan2_raw; ///< RC channel 2 value, in microseconds
|
||||
uint16_t chan3_raw; ///< RC channel 3 value, in microseconds
|
||||
uint16_t chan4_raw; ///< RC channel 4 value, in microseconds
|
||||
uint16_t chan5_raw; ///< RC channel 5 value, in microseconds
|
||||
uint16_t chan6_raw; ///< RC channel 6 value, in microseconds
|
||||
uint16_t chan7_raw; ///< RC channel 7 value, in microseconds
|
||||
uint16_t chan8_raw; ///< RC channel 8 value, in microseconds
|
||||
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
} mavlink_rc_channels_raw_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN 17
|
||||
#define MAVLINK_MSG_ID_35_LEN 17
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \
|
||||
"RC_CHANNELS_RAW", \
|
||||
9, \
|
||||
{ { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \
|
||||
{ "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \
|
||||
{ "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \
|
||||
{ "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \
|
||||
{ "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \
|
||||
{ "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \
|
||||
{ "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \
|
||||
{ "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \
|
||||
{ "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, rssi) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a rc_channels_raw message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param chan1_raw RC channel 1 value, in microseconds
|
||||
* @param chan2_raw RC channel 2 value, in microseconds
|
||||
* @param chan3_raw RC channel 3 value, in microseconds
|
||||
* @param chan4_raw RC channel 4 value, in microseconds
|
||||
* @param chan5_raw RC channel 5 value, in microseconds
|
||||
* @param chan6_raw RC channel 6 value, in microseconds
|
||||
* @param chan7_raw RC channel 7 value, in microseconds
|
||||
* @param chan8_raw RC channel 8 value, in microseconds
|
||||
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[17];
|
||||
_mav_put_uint16_t(buf, 0, chan1_raw);
|
||||
_mav_put_uint16_t(buf, 2, chan2_raw);
|
||||
_mav_put_uint16_t(buf, 4, chan3_raw);
|
||||
_mav_put_uint16_t(buf, 6, chan4_raw);
|
||||
_mav_put_uint16_t(buf, 8, chan5_raw);
|
||||
_mav_put_uint16_t(buf, 10, chan6_raw);
|
||||
_mav_put_uint16_t(buf, 12, chan7_raw);
|
||||
_mav_put_uint16_t(buf, 14, chan8_raw);
|
||||
_mav_put_uint8_t(buf, 16, rssi);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 17);
|
||||
#else
|
||||
mavlink_rc_channels_raw_t packet;
|
||||
packet.chan1_raw = chan1_raw;
|
||||
packet.chan2_raw = chan2_raw;
|
||||
packet.chan3_raw = chan3_raw;
|
||||
packet.chan4_raw = chan4_raw;
|
||||
packet.chan5_raw = chan5_raw;
|
||||
packet.chan6_raw = chan6_raw;
|
||||
packet.chan7_raw = chan7_raw;
|
||||
packet.chan8_raw = chan8_raw;
|
||||
packet.rssi = rssi;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a rc_channels_raw message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param chan1_raw RC channel 1 value, in microseconds
|
||||
* @param chan2_raw RC channel 2 value, in microseconds
|
||||
* @param chan3_raw RC channel 3 value, in microseconds
|
||||
* @param chan4_raw RC channel 4 value, in microseconds
|
||||
* @param chan5_raw RC channel 5 value, in microseconds
|
||||
* @param chan6_raw RC channel 6 value, in microseconds
|
||||
* @param chan7_raw RC channel 7 value, in microseconds
|
||||
* @param chan8_raw RC channel 8 value, in microseconds
|
||||
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[17];
|
||||
_mav_put_uint16_t(buf, 0, chan1_raw);
|
||||
_mav_put_uint16_t(buf, 2, chan2_raw);
|
||||
_mav_put_uint16_t(buf, 4, chan3_raw);
|
||||
_mav_put_uint16_t(buf, 6, chan4_raw);
|
||||
_mav_put_uint16_t(buf, 8, chan5_raw);
|
||||
_mav_put_uint16_t(buf, 10, chan6_raw);
|
||||
_mav_put_uint16_t(buf, 12, chan7_raw);
|
||||
_mav_put_uint16_t(buf, 14, chan8_raw);
|
||||
_mav_put_uint8_t(buf, 16, rssi);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 17);
|
||||
#else
|
||||
mavlink_rc_channels_raw_t packet;
|
||||
packet.chan1_raw = chan1_raw;
|
||||
packet.chan2_raw = chan2_raw;
|
||||
packet.chan3_raw = chan3_raw;
|
||||
packet.chan4_raw = chan4_raw;
|
||||
packet.chan5_raw = chan5_raw;
|
||||
packet.chan6_raw = chan6_raw;
|
||||
packet.chan7_raw = chan7_raw;
|
||||
packet.chan8_raw = chan8_raw;
|
||||
packet.rssi = rssi;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a rc_channels_raw struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param rc_channels_raw C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
|
||||
{
|
||||
return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a rc_channels_raw message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param chan1_raw RC channel 1 value, in microseconds
|
||||
* @param chan2_raw RC channel 2 value, in microseconds
|
||||
* @param chan3_raw RC channel 3 value, in microseconds
|
||||
* @param chan4_raw RC channel 4 value, in microseconds
|
||||
* @param chan5_raw RC channel 5 value, in microseconds
|
||||
* @param chan6_raw RC channel 6 value, in microseconds
|
||||
* @param chan7_raw RC channel 7 value, in microseconds
|
||||
* @param chan8_raw RC channel 8 value, in microseconds
|
||||
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[17];
|
||||
_mav_put_uint16_t(buf, 0, chan1_raw);
|
||||
_mav_put_uint16_t(buf, 2, chan2_raw);
|
||||
_mav_put_uint16_t(buf, 4, chan3_raw);
|
||||
_mav_put_uint16_t(buf, 6, chan4_raw);
|
||||
_mav_put_uint16_t(buf, 8, chan5_raw);
|
||||
_mav_put_uint16_t(buf, 10, chan6_raw);
|
||||
_mav_put_uint16_t(buf, 12, chan7_raw);
|
||||
_mav_put_uint16_t(buf, 14, chan8_raw);
|
||||
_mav_put_uint8_t(buf, 16, rssi);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, 17);
|
||||
#else
|
||||
mavlink_rc_channels_raw_t packet;
|
||||
packet.chan1_raw = chan1_raw;
|
||||
packet.chan2_raw = chan2_raw;
|
||||
packet.chan3_raw = chan3_raw;
|
||||
packet.chan4_raw = chan4_raw;
|
||||
packet.chan5_raw = chan5_raw;
|
||||
packet.chan6_raw = chan6_raw;
|
||||
packet.chan7_raw = chan7_raw;
|
||||
packet.chan8_raw = chan8_raw;
|
||||
packet.rssi = rssi;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, 17);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE RC_CHANNELS_RAW UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field chan1_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 1 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan2_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 2 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan3_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 3 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan4_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 4 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan5_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 5 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan6_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 6 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan7_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 7 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan8_raw from rc_channels_raw message
|
||||
*
|
||||
* @return RC channel 8 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field rssi from rc_channels_raw message
|
||||
*
|
||||
* @return Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_rc_channels_raw_get_rssi(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a rc_channels_raw message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param rc_channels_raw C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
|
||||
rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
|
||||
rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
|
||||
rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg);
|
||||
rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg);
|
||||
rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg);
|
||||
rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
|
||||
rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
|
||||
rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg);
|
||||
#else
|
||||
memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), 17);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
// MESSAGE RC_CHANNELS_SCALED PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED 36
|
||||
|
||||
typedef struct __mavlink_rc_channels_scaled_t
|
||||
{
|
||||
int16_t chan1_scaled; ///< RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
} mavlink_rc_channels_scaled_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN 17
|
||||
#define MAVLINK_MSG_ID_36_LEN 17
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED { \
|
||||
"RC_CHANNELS_SCALED", \
|
||||
9, \
|
||||
{ { "chan1_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_rc_channels_scaled_t, chan1_scaled) }, \
|
||||
{ "chan2_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_rc_channels_scaled_t, chan2_scaled) }, \
|
||||
{ "chan3_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_rc_channels_scaled_t, chan3_scaled) }, \
|
||||
{ "chan4_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_rc_channels_scaled_t, chan4_scaled) }, \
|
||||
{ "chan5_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rc_channels_scaled_t, chan5_scaled) }, \
|
||||
{ "chan6_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rc_channels_scaled_t, chan6_scaled) }, \
|
||||
{ "chan7_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_rc_channels_scaled_t, chan7_scaled) }, \
|
||||
{ "chan8_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_rc_channels_scaled_t, chan8_scaled) }, \
|
||||
{ "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_scaled_t, rssi) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a rc_channels_scaled message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_scaled_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[17];
|
||||
_mav_put_int16_t(buf, 0, chan1_scaled);
|
||||
_mav_put_int16_t(buf, 2, chan2_scaled);
|
||||
_mav_put_int16_t(buf, 4, chan3_scaled);
|
||||
_mav_put_int16_t(buf, 6, chan4_scaled);
|
||||
_mav_put_int16_t(buf, 8, chan5_scaled);
|
||||
_mav_put_int16_t(buf, 10, chan6_scaled);
|
||||
_mav_put_int16_t(buf, 12, chan7_scaled);
|
||||
_mav_put_int16_t(buf, 14, chan8_scaled);
|
||||
_mav_put_uint8_t(buf, 16, rssi);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 17);
|
||||
#else
|
||||
mavlink_rc_channels_scaled_t packet;
|
||||
packet.chan1_scaled = chan1_scaled;
|
||||
packet.chan2_scaled = chan2_scaled;
|
||||
packet.chan3_scaled = chan3_scaled;
|
||||
packet.chan4_scaled = chan4_scaled;
|
||||
packet.chan5_scaled = chan5_scaled;
|
||||
packet.chan6_scaled = chan6_scaled;
|
||||
packet.chan7_scaled = chan7_scaled;
|
||||
packet.chan8_scaled = chan8_scaled;
|
||||
packet.rssi = rssi;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a rc_channels_scaled message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_scaled_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
int16_t chan1_scaled,int16_t chan2_scaled,int16_t chan3_scaled,int16_t chan4_scaled,int16_t chan5_scaled,int16_t chan6_scaled,int16_t chan7_scaled,int16_t chan8_scaled,uint8_t rssi)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[17];
|
||||
_mav_put_int16_t(buf, 0, chan1_scaled);
|
||||
_mav_put_int16_t(buf, 2, chan2_scaled);
|
||||
_mav_put_int16_t(buf, 4, chan3_scaled);
|
||||
_mav_put_int16_t(buf, 6, chan4_scaled);
|
||||
_mav_put_int16_t(buf, 8, chan5_scaled);
|
||||
_mav_put_int16_t(buf, 10, chan6_scaled);
|
||||
_mav_put_int16_t(buf, 12, chan7_scaled);
|
||||
_mav_put_int16_t(buf, 14, chan8_scaled);
|
||||
_mav_put_uint8_t(buf, 16, rssi);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 17);
|
||||
#else
|
||||
mavlink_rc_channels_scaled_t packet;
|
||||
packet.chan1_scaled = chan1_scaled;
|
||||
packet.chan2_scaled = chan2_scaled;
|
||||
packet.chan3_scaled = chan3_scaled;
|
||||
packet.chan4_scaled = chan4_scaled;
|
||||
packet.chan5_scaled = chan5_scaled;
|
||||
packet.chan6_scaled = chan6_scaled;
|
||||
packet.chan7_scaled = chan7_scaled;
|
||||
packet.chan8_scaled = chan8_scaled;
|
||||
packet.rssi = rssi;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 17);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a rc_channels_scaled struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param rc_channels_scaled C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled)
|
||||
{
|
||||
return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a rc_channels_scaled message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
* @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[17];
|
||||
_mav_put_int16_t(buf, 0, chan1_scaled);
|
||||
_mav_put_int16_t(buf, 2, chan2_scaled);
|
||||
_mav_put_int16_t(buf, 4, chan3_scaled);
|
||||
_mav_put_int16_t(buf, 6, chan4_scaled);
|
||||
_mav_put_int16_t(buf, 8, chan5_scaled);
|
||||
_mav_put_int16_t(buf, 10, chan6_scaled);
|
||||
_mav_put_int16_t(buf, 12, chan7_scaled);
|
||||
_mav_put_int16_t(buf, 14, chan8_scaled);
|
||||
_mav_put_uint8_t(buf, 16, rssi);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, 17);
|
||||
#else
|
||||
mavlink_rc_channels_scaled_t packet;
|
||||
packet.chan1_scaled = chan1_scaled;
|
||||
packet.chan2_scaled = chan2_scaled;
|
||||
packet.chan3_scaled = chan3_scaled;
|
||||
packet.chan4_scaled = chan4_scaled;
|
||||
packet.chan5_scaled = chan5_scaled;
|
||||
packet.chan6_scaled = chan6_scaled;
|
||||
packet.chan7_scaled = chan7_scaled;
|
||||
packet.chan8_scaled = chan8_scaled;
|
||||
packet.rssi = rssi;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, 17);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE RC_CHANNELS_SCALED UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field chan1_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan2_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan3_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan4_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan5_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan6_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan7_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field chan8_scaled from rc_channels_scaled message
|
||||
*
|
||||
* @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000
|
||||
*/
|
||||
static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field rssi from rc_channels_scaled message
|
||||
*
|
||||
* @return Receive signal strength indicator, 0: 0%, 255: 100%
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_rc_channels_scaled_get_rssi(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a rc_channels_scaled message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param rc_channels_scaled C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t* msg, mavlink_rc_channels_scaled_t* rc_channels_scaled)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
rc_channels_scaled->chan1_scaled = mavlink_msg_rc_channels_scaled_get_chan1_scaled(msg);
|
||||
rc_channels_scaled->chan2_scaled = mavlink_msg_rc_channels_scaled_get_chan2_scaled(msg);
|
||||
rc_channels_scaled->chan3_scaled = mavlink_msg_rc_channels_scaled_get_chan3_scaled(msg);
|
||||
rc_channels_scaled->chan4_scaled = mavlink_msg_rc_channels_scaled_get_chan4_scaled(msg);
|
||||
rc_channels_scaled->chan5_scaled = mavlink_msg_rc_channels_scaled_get_chan5_scaled(msg);
|
||||
rc_channels_scaled->chan6_scaled = mavlink_msg_rc_channels_scaled_get_chan6_scaled(msg);
|
||||
rc_channels_scaled->chan7_scaled = mavlink_msg_rc_channels_scaled_get_chan7_scaled(msg);
|
||||
rc_channels_scaled->chan8_scaled = mavlink_msg_rc_channels_scaled_get_chan8_scaled(msg);
|
||||
rc_channels_scaled->rssi = mavlink_msg_rc_channels_scaled_get_rssi(msg);
|
||||
#else
|
||||
memcpy(rc_channels_scaled, _MAV_PAYLOAD(msg), 17);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE REQUEST_DATA_STREAM PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66
|
||||
|
||||
typedef struct __mavlink_request_data_stream_t
|
||||
{
|
||||
uint8_t target_system; ///< The target requested to send the message stream.
|
||||
uint8_t target_component; ///< The target requested to send the message stream.
|
||||
uint8_t req_stream_id; ///< The ID of the requested message type
|
||||
uint16_t req_message_rate; ///< Update rate in Hertz
|
||||
uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
|
||||
} mavlink_request_data_stream_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN 6
|
||||
#define MAVLINK_MSG_ID_66_LEN 6
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM { \
|
||||
"REQUEST_DATA_STREAM", \
|
||||
5, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_request_data_stream_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_request_data_stream_t, target_component) }, \
|
||||
{ "req_stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_request_data_stream_t, req_stream_id) }, \
|
||||
{ "req_message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_request_data_stream_t, req_message_rate) }, \
|
||||
{ "start_stop", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_request_data_stream_t, start_stop) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a request_data_stream message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system The target requested to send the message stream.
|
||||
* @param target_component The target requested to send the message stream.
|
||||
* @param req_stream_id The ID of the requested message type
|
||||
* @param req_message_rate Update rate in Hertz
|
||||
* @param start_stop 1 to start sending, 0 to stop sending.
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[6];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, req_stream_id);
|
||||
_mav_put_uint16_t(buf, 3, req_message_rate);
|
||||
_mav_put_uint8_t(buf, 5, start_stop);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 6);
|
||||
#else
|
||||
mavlink_request_data_stream_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.req_stream_id = req_stream_id;
|
||||
packet.req_message_rate = req_message_rate;
|
||||
packet.start_stop = start_stop;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a request_data_stream message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system The target requested to send the message stream.
|
||||
* @param target_component The target requested to send the message stream.
|
||||
* @param req_stream_id The ID of the requested message type
|
||||
* @param req_message_rate Update rate in Hertz
|
||||
* @param start_stop 1 to start sending, 0 to stop sending.
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t req_stream_id,uint16_t req_message_rate,uint8_t start_stop)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[6];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, req_stream_id);
|
||||
_mav_put_uint16_t(buf, 3, req_message_rate);
|
||||
_mav_put_uint8_t(buf, 5, start_stop);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 6);
|
||||
#else
|
||||
mavlink_request_data_stream_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.req_stream_id = req_stream_id;
|
||||
packet.req_message_rate = req_message_rate;
|
||||
packet.start_stop = start_stop;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 6);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a request_data_stream struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param request_data_stream C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream)
|
||||
{
|
||||
return mavlink_msg_request_data_stream_pack(system_id, component_id, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a request_data_stream message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system The target requested to send the message stream.
|
||||
* @param target_component The target requested to send the message stream.
|
||||
* @param req_stream_id The ID of the requested message type
|
||||
* @param req_message_rate Update rate in Hertz
|
||||
* @param start_stop 1 to start sending, 0 to stop sending.
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[6];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, req_stream_id);
|
||||
_mav_put_uint16_t(buf, 3, req_message_rate);
|
||||
_mav_put_uint8_t(buf, 5, start_stop);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, 6);
|
||||
#else
|
||||
mavlink_request_data_stream_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.req_stream_id = req_stream_id;
|
||||
packet.req_message_rate = req_message_rate;
|
||||
packet.start_stop = start_stop;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, 6);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE REQUEST_DATA_STREAM UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from request_data_stream message
|
||||
*
|
||||
* @return The target requested to send the message stream.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from request_data_stream message
|
||||
*
|
||||
* @return The target requested to send the message stream.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field req_stream_id from request_data_stream message
|
||||
*
|
||||
* @return The ID of the requested message type
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field req_message_rate from request_data_stream message
|
||||
*
|
||||
* @return Update rate in Hertz
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field start_stop from request_data_stream message
|
||||
*
|
||||
* @return 1 to start sending, 0 to stop sending.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a request_data_stream message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param request_data_stream C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg);
|
||||
request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg);
|
||||
request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg);
|
||||
request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg);
|
||||
request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg);
|
||||
#else
|
||||
memcpy(request_data_stream, _MAV_PAYLOAD(msg), 6);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 58
|
||||
|
||||
typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
|
||||
{
|
||||
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
|
||||
float roll_speed; ///< Desired roll angular speed in rad/s
|
||||
float pitch_speed; ///< Desired pitch angular speed in rad/s
|
||||
float yaw_speed; ///< Desired yaw angular speed in rad/s
|
||||
float thrust; ///< Collective thrust, normalized to 0 .. 1
|
||||
} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 24
|
||||
#define MAVLINK_MSG_ID_58_LEN 24
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \
|
||||
"ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \
|
||||
5, \
|
||||
{ { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_us) }, \
|
||||
{ "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \
|
||||
{ "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \
|
||||
{ "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \
|
||||
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time_us Timestamp in micro seconds since unix epoch
|
||||
* @param roll_speed Desired roll angular speed in rad/s
|
||||
* @param pitch_speed Desired pitch angular speed in rad/s
|
||||
* @param yaw_speed Desired yaw angular speed in rad/s
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[24];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll_speed);
|
||||
_mav_put_float(buf, 12, pitch_speed);
|
||||
_mav_put_float(buf, 16, yaw_speed);
|
||||
_mav_put_float(buf, 20, thrust);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 24);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll_speed = roll_speed;
|
||||
packet.pitch_speed = pitch_speed;
|
||||
packet.yaw_speed = yaw_speed;
|
||||
packet.thrust = thrust;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a roll_pitch_yaw_speed_thrust_setpoint message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time_us Timestamp in micro seconds since unix epoch
|
||||
* @param roll_speed Desired roll angular speed in rad/s
|
||||
* @param pitch_speed Desired pitch angular speed in rad/s
|
||||
* @param yaw_speed Desired yaw angular speed in rad/s
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t time_us,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[24];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll_speed);
|
||||
_mav_put_float(buf, 12, pitch_speed);
|
||||
_mav_put_float(buf, 16, yaw_speed);
|
||||
_mav_put_float(buf, 20, thrust);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 24);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll_speed = roll_speed;
|
||||
packet.pitch_speed = pitch_speed;
|
||||
packet.yaw_speed = yaw_speed;
|
||||
packet.thrust = thrust;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a roll_pitch_yaw_speed_thrust_setpoint struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
|
||||
{
|
||||
return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_us, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time_us Timestamp in micro seconds since unix epoch
|
||||
* @param roll_speed Desired roll angular speed in rad/s
|
||||
* @param pitch_speed Desired pitch angular speed in rad/s
|
||||
* @param yaw_speed Desired yaw angular speed in rad/s
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[24];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll_speed);
|
||||
_mav_put_float(buf, 12, pitch_speed);
|
||||
_mav_put_float(buf, 16, yaw_speed);
|
||||
_mav_put_float(buf, 20, thrust);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, 24);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll_speed = roll_speed;
|
||||
packet.pitch_speed = pitch_speed;
|
||||
packet.yaw_speed = yaw_speed;
|
||||
packet.thrust = thrust;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, 24);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_us from roll_pitch_yaw_speed_thrust_setpoint message
|
||||
*
|
||||
* @return Timestamp in micro seconds since unix epoch
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
|
||||
*
|
||||
* @return Desired roll angular speed in rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
|
||||
*
|
||||
* @return Desired pitch angular speed in rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
|
||||
*
|
||||
* @return Desired yaw angular speed in rad/s
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
|
||||
*
|
||||
* @return Collective thrust, normalized to 0 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
roll_pitch_yaw_speed_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_us(msg);
|
||||
roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
|
||||
roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
|
||||
roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
|
||||
roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
|
||||
#else
|
||||
memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), 24);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,232 @@
|
||||
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 57
|
||||
|
||||
typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
|
||||
{
|
||||
uint64_t time_us; ///< Timestamp in micro seconds since unix epoch
|
||||
float roll; ///< Desired roll angle in radians
|
||||
float pitch; ///< Desired pitch angle in radians
|
||||
float yaw; ///< Desired yaw angle in radians
|
||||
float thrust; ///< Collective thrust, normalized to 0 .. 1
|
||||
} mavlink_roll_pitch_yaw_thrust_setpoint_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 24
|
||||
#define MAVLINK_MSG_ID_57_LEN 24
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \
|
||||
"ROLL_PITCH_YAW_THRUST_SETPOINT", \
|
||||
5, \
|
||||
{ { "time_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_us) }, \
|
||||
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \
|
||||
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \
|
||||
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \
|
||||
{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a roll_pitch_yaw_thrust_setpoint message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param time_us Timestamp in micro seconds since unix epoch
|
||||
* @param roll Desired roll angle in radians
|
||||
* @param pitch Desired pitch angle in radians
|
||||
* @param yaw Desired yaw angle in radians
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t time_us, float roll, float pitch, float yaw, float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[24];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, thrust);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 24);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.thrust = thrust;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a roll_pitch_yaw_thrust_setpoint message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time_us Timestamp in micro seconds since unix epoch
|
||||
* @param roll Desired roll angle in radians
|
||||
* @param pitch Desired pitch angle in radians
|
||||
* @param yaw Desired yaw angle in radians
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t time_us,float roll,float pitch,float yaw,float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[24];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, thrust);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 24);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.thrust = thrust;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 24);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a roll_pitch_yaw_thrust_setpoint struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
|
||||
{
|
||||
return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_us, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a roll_pitch_yaw_thrust_setpoint message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time_us Timestamp in micro seconds since unix epoch
|
||||
* @param roll Desired roll angle in radians
|
||||
* @param pitch Desired pitch angle in radians
|
||||
* @param yaw Desired yaw angle in radians
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint64_t time_us, float roll, float pitch, float yaw, float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[24];
|
||||
_mav_put_uint64_t(buf, 0, time_us);
|
||||
_mav_put_float(buf, 8, roll);
|
||||
_mav_put_float(buf, 12, pitch);
|
||||
_mav_put_float(buf, 16, yaw);
|
||||
_mav_put_float(buf, 20, thrust);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, 24);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
|
||||
packet.time_us = time_us;
|
||||
packet.roll = roll;
|
||||
packet.pitch = pitch;
|
||||
packet.yaw = yaw;
|
||||
packet.thrust = thrust;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, 24);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_us from roll_pitch_yaw_thrust_setpoint message
|
||||
*
|
||||
* @return Timestamp in micro seconds since unix epoch
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll from roll_pitch_yaw_thrust_setpoint message
|
||||
*
|
||||
* @return Desired roll angle in radians
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message
|
||||
*
|
||||
* @return Desired pitch angle in radians
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message
|
||||
*
|
||||
* @return Desired yaw angle in radians
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message
|
||||
*
|
||||
* @return Collective thrust, normalized to 0 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
roll_pitch_yaw_thrust_setpoint->time_us = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_us(msg);
|
||||
roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg);
|
||||
roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg);
|
||||
roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg);
|
||||
roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg);
|
||||
#else
|
||||
memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), 24);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,276 @@
|
||||
// MESSAGE SAFETY_ALLOWED_AREA PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 54
|
||||
|
||||
typedef struct __mavlink_safety_allowed_area_t
|
||||
{
|
||||
uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
float p1x; ///< x position 1 / Latitude 1
|
||||
float p1y; ///< y position 1 / Longitude 1
|
||||
float p1z; ///< z position 1 / Altitude 1
|
||||
float p2x; ///< x position 2 / Latitude 2
|
||||
float p2y; ///< y position 2 / Longitude 2
|
||||
float p2z; ///< z position 2 / Altitude 2
|
||||
} mavlink_safety_allowed_area_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN 25
|
||||
#define MAVLINK_MSG_ID_54_LEN 25
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA { \
|
||||
"SAFETY_ALLOWED_AREA", \
|
||||
7, \
|
||||
{ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_safety_allowed_area_t, frame) }, \
|
||||
{ "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_safety_allowed_area_t, p1x) }, \
|
||||
{ "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 5, offsetof(mavlink_safety_allowed_area_t, p1y) }, \
|
||||
{ "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_safety_allowed_area_t, p1z) }, \
|
||||
{ "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_safety_allowed_area_t, p2x) }, \
|
||||
{ "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_safety_allowed_area_t, p2y) }, \
|
||||
{ "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_safety_allowed_area_t, p2z) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a safety_allowed_area message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
* @param p1x x position 1 / Latitude 1
|
||||
* @param p1y y position 1 / Longitude 1
|
||||
* @param p1z z position 1 / Altitude 1
|
||||
* @param p2x x position 2 / Latitude 2
|
||||
* @param p2y y position 2 / Longitude 2
|
||||
* @param p2z z position 2 / Altitude 2
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[25];
|
||||
_mav_put_uint8_t(buf, 0, frame);
|
||||
_mav_put_float(buf, 1, p1x);
|
||||
_mav_put_float(buf, 5, p1y);
|
||||
_mav_put_float(buf, 9, p1z);
|
||||
_mav_put_float(buf, 13, p2x);
|
||||
_mav_put_float(buf, 17, p2y);
|
||||
_mav_put_float(buf, 21, p2z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 25);
|
||||
#else
|
||||
mavlink_safety_allowed_area_t packet;
|
||||
packet.frame = frame;
|
||||
packet.p1x = p1x;
|
||||
packet.p1y = p1y;
|
||||
packet.p1z = p1z;
|
||||
packet.p2x = p2x;
|
||||
packet.p2y = p2y;
|
||||
packet.p2z = p2z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 25);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 25);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a safety_allowed_area message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
* @param p1x x position 1 / Latitude 1
|
||||
* @param p1y y position 1 / Longitude 1
|
||||
* @param p1z z position 1 / Altitude 1
|
||||
* @param p2x x position 2 / Latitude 2
|
||||
* @param p2y y position 2 / Longitude 2
|
||||
* @param p2z z position 2 / Altitude 2
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[25];
|
||||
_mav_put_uint8_t(buf, 0, frame);
|
||||
_mav_put_float(buf, 1, p1x);
|
||||
_mav_put_float(buf, 5, p1y);
|
||||
_mav_put_float(buf, 9, p1z);
|
||||
_mav_put_float(buf, 13, p2x);
|
||||
_mav_put_float(buf, 17, p2y);
|
||||
_mav_put_float(buf, 21, p2z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 25);
|
||||
#else
|
||||
mavlink_safety_allowed_area_t packet;
|
||||
packet.frame = frame;
|
||||
packet.p1x = p1x;
|
||||
packet.p1y = p1y;
|
||||
packet.p1z = p1z;
|
||||
packet.p2x = p2x;
|
||||
packet.p2y = p2y;
|
||||
packet.p2z = p2z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 25);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 25);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a safety_allowed_area struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param safety_allowed_area C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area)
|
||||
{
|
||||
return mavlink_msg_safety_allowed_area_pack(system_id, component_id, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a safety_allowed_area message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
* @param p1x x position 1 / Latitude 1
|
||||
* @param p1y y position 1 / Longitude 1
|
||||
* @param p1z z position 1 / Altitude 1
|
||||
* @param p2x x position 2 / Latitude 2
|
||||
* @param p2y y position 2 / Longitude 2
|
||||
* @param p2z z position 2 / Altitude 2
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[25];
|
||||
_mav_put_uint8_t(buf, 0, frame);
|
||||
_mav_put_float(buf, 1, p1x);
|
||||
_mav_put_float(buf, 5, p1y);
|
||||
_mav_put_float(buf, 9, p1z);
|
||||
_mav_put_float(buf, 13, p2x);
|
||||
_mav_put_float(buf, 17, p2y);
|
||||
_mav_put_float(buf, 21, p2z);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, 25);
|
||||
#else
|
||||
mavlink_safety_allowed_area_t packet;
|
||||
packet.frame = frame;
|
||||
packet.p1x = p1x;
|
||||
packet.p1y = p1y;
|
||||
packet.p1z = p1z;
|
||||
packet.p2x = p2x;
|
||||
packet.p2y = p2y;
|
||||
packet.p2z = p2z;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, 25);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SAFETY_ALLOWED_AREA UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field frame from safety_allowed_area message
|
||||
*
|
||||
* @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p1x from safety_allowed_area message
|
||||
*
|
||||
* @return x position 1 / Latitude 1
|
||||
*/
|
||||
static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p1y from safety_allowed_area message
|
||||
*
|
||||
* @return y position 1 / Longitude 1
|
||||
*/
|
||||
static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p1z from safety_allowed_area message
|
||||
*
|
||||
* @return z position 1 / Altitude 1
|
||||
*/
|
||||
static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 9);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p2x from safety_allowed_area message
|
||||
*
|
||||
* @return x position 2 / Latitude 2
|
||||
*/
|
||||
static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 13);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p2y from safety_allowed_area message
|
||||
*
|
||||
* @return y position 2 / Longitude 2
|
||||
*/
|
||||
static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 17);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p2z from safety_allowed_area message
|
||||
*
|
||||
* @return z position 2 / Altitude 2
|
||||
*/
|
||||
static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 21);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a safety_allowed_area message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param safety_allowed_area C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg);
|
||||
safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg);
|
||||
safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg);
|
||||
safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg);
|
||||
safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg);
|
||||
safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg);
|
||||
safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg);
|
||||
#else
|
||||
memcpy(safety_allowed_area, _MAV_PAYLOAD(msg), 25);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
// MESSAGE SAFETY_SET_ALLOWED_AREA PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 53
|
||||
|
||||
typedef struct __mavlink_safety_set_allowed_area_t
|
||||
{
|
||||
uint8_t target_system; ///< System ID
|
||||
uint8_t target_component; ///< Component ID
|
||||
uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
float p1x; ///< x position 1 / Latitude 1
|
||||
float p1y; ///< y position 1 / Longitude 1
|
||||
float p1z; ///< z position 1 / Altitude 1
|
||||
float p2x; ///< x position 2 / Latitude 2
|
||||
float p2y; ///< y position 2 / Longitude 2
|
||||
float p2z; ///< z position 2 / Altitude 2
|
||||
} mavlink_safety_set_allowed_area_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN 27
|
||||
#define MAVLINK_MSG_ID_53_LEN 27
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA { \
|
||||
"SAFETY_SET_ALLOWED_AREA", \
|
||||
9, \
|
||||
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_safety_set_allowed_area_t, target_system) }, \
|
||||
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_safety_set_allowed_area_t, target_component) }, \
|
||||
{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_safety_set_allowed_area_t, frame) }, \
|
||||
{ "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 3, offsetof(mavlink_safety_set_allowed_area_t, p1x) }, \
|
||||
{ "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 7, offsetof(mavlink_safety_set_allowed_area_t, p1y) }, \
|
||||
{ "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 11, offsetof(mavlink_safety_set_allowed_area_t, p1z) }, \
|
||||
{ "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_safety_set_allowed_area_t, p2x) }, \
|
||||
{ "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 19, offsetof(mavlink_safety_set_allowed_area_t, p2y) }, \
|
||||
{ "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 23, offsetof(mavlink_safety_set_allowed_area_t, p2z) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a safety_set_allowed_area message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
* @param p1x x position 1 / Latitude 1
|
||||
* @param p1y y position 1 / Longitude 1
|
||||
* @param p1z z position 1 / Altitude 1
|
||||
* @param p2x x position 2 / Latitude 2
|
||||
* @param p2y y position 2 / Longitude 2
|
||||
* @param p2z z position 2 / Altitude 2
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[27];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, frame);
|
||||
_mav_put_float(buf, 3, p1x);
|
||||
_mav_put_float(buf, 7, p1y);
|
||||
_mav_put_float(buf, 11, p1z);
|
||||
_mav_put_float(buf, 15, p2x);
|
||||
_mav_put_float(buf, 19, p2y);
|
||||
_mav_put_float(buf, 23, p2z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 27);
|
||||
#else
|
||||
mavlink_safety_set_allowed_area_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.frame = frame;
|
||||
packet.p1x = p1x;
|
||||
packet.p1y = p1y;
|
||||
packet.p1z = p1z;
|
||||
packet.p2x = p2x;
|
||||
packet.p2y = p2y;
|
||||
packet.p2z = p2z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 27);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 27);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a safety_set_allowed_area message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
* @param p1x x position 1 / Latitude 1
|
||||
* @param p1y y position 1 / Longitude 1
|
||||
* @param p1z z position 1 / Altitude 1
|
||||
* @param p2x x position 2 / Latitude 2
|
||||
* @param p2y y position 2 / Longitude 2
|
||||
* @param p2z z position 2 / Altitude 2
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_safety_set_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target_system,uint8_t target_component,uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[27];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, frame);
|
||||
_mav_put_float(buf, 3, p1x);
|
||||
_mav_put_float(buf, 7, p1y);
|
||||
_mav_put_float(buf, 11, p1z);
|
||||
_mav_put_float(buf, 15, p2x);
|
||||
_mav_put_float(buf, 19, p2y);
|
||||
_mav_put_float(buf, 23, p2z);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 27);
|
||||
#else
|
||||
mavlink_safety_set_allowed_area_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.frame = frame;
|
||||
packet.p1x = p1x;
|
||||
packet.p1y = p1y;
|
||||
packet.p1z = p1z;
|
||||
packet.p2x = p2x;
|
||||
packet.p2y = p2y;
|
||||
packet.p2z = p2z;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 27);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 27);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a safety_set_allowed_area struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param safety_set_allowed_area C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_safety_set_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
|
||||
{
|
||||
return mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, msg, safety_set_allowed_area->target_system, safety_set_allowed_area->target_component, safety_set_allowed_area->frame, safety_set_allowed_area->p1x, safety_set_allowed_area->p1y, safety_set_allowed_area->p1z, safety_set_allowed_area->p2x, safety_set_allowed_area->p2y, safety_set_allowed_area->p2z);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a safety_set_allowed_area message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target_system System ID
|
||||
* @param target_component Component ID
|
||||
* @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
* @param p1x x position 1 / Latitude 1
|
||||
* @param p1y y position 1 / Longitude 1
|
||||
* @param p1z z position 1 / Altitude 1
|
||||
* @param p2x x position 2 / Latitude 2
|
||||
* @param p2y y position 2 / Longitude 2
|
||||
* @param p2z z position 2 / Altitude 2
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[27];
|
||||
_mav_put_uint8_t(buf, 0, target_system);
|
||||
_mav_put_uint8_t(buf, 1, target_component);
|
||||
_mav_put_uint8_t(buf, 2, frame);
|
||||
_mav_put_float(buf, 3, p1x);
|
||||
_mav_put_float(buf, 7, p1y);
|
||||
_mav_put_float(buf, 11, p1z);
|
||||
_mav_put_float(buf, 15, p2x);
|
||||
_mav_put_float(buf, 19, p2y);
|
||||
_mav_put_float(buf, 23, p2z);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, 27);
|
||||
#else
|
||||
mavlink_safety_set_allowed_area_t packet;
|
||||
packet.target_system = target_system;
|
||||
packet.target_component = target_component;
|
||||
packet.frame = frame;
|
||||
packet.p1x = p1x;
|
||||
packet.p1y = p1y;
|
||||
packet.p1z = p1z;
|
||||
packet.p2x = p2x;
|
||||
packet.p2y = p2y;
|
||||
packet.p2z = p2z;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, 27);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target_system from safety_set_allowed_area message
|
||||
*
|
||||
* @return System ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field target_component from safety_set_allowed_area message
|
||||
*
|
||||
* @return Component ID
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field frame from safety_set_allowed_area message
|
||||
*
|
||||
* @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p1x from safety_set_allowed_area message
|
||||
*
|
||||
* @return x position 1 / Latitude 1
|
||||
*/
|
||||
static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 3);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p1y from safety_set_allowed_area message
|
||||
*
|
||||
* @return y position 1 / Longitude 1
|
||||
*/
|
||||
static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 7);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p1z from safety_set_allowed_area message
|
||||
*
|
||||
* @return z position 1 / Altitude 1
|
||||
*/
|
||||
static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 11);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p2x from safety_set_allowed_area message
|
||||
*
|
||||
* @return x position 2 / Latitude 2
|
||||
*/
|
||||
static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 15);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p2y from safety_set_allowed_area message
|
||||
*
|
||||
* @return y position 2 / Longitude 2
|
||||
*/
|
||||
static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 19);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field p2z from safety_set_allowed_area message
|
||||
*
|
||||
* @return z position 2 / Altitude 2
|
||||
*/
|
||||
static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 23);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a safety_set_allowed_area message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param safety_set_allowed_area C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg);
|
||||
safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg);
|
||||
safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg);
|
||||
safety_set_allowed_area->p1x = mavlink_msg_safety_set_allowed_area_get_p1x(msg);
|
||||
safety_set_allowed_area->p1y = mavlink_msg_safety_set_allowed_area_get_p1y(msg);
|
||||
safety_set_allowed_area->p1z = mavlink_msg_safety_set_allowed_area_get_p1z(msg);
|
||||
safety_set_allowed_area->p2x = mavlink_msg_safety_set_allowed_area_get_p2x(msg);
|
||||
safety_set_allowed_area->p2y = mavlink_msg_safety_set_allowed_area_get_p2y(msg);
|
||||
safety_set_allowed_area->p2z = mavlink_msg_safety_set_allowed_area_get_p2z(msg);
|
||||
#else
|
||||
memcpy(safety_set_allowed_area, _MAV_PAYLOAD(msg), 27);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,342 @@
|
||||
// MESSAGE SCALED_IMU PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SCALED_IMU 26
|
||||
|
||||
typedef struct __mavlink_scaled_imu_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
int16_t xacc; ///< X acceleration (mg)
|
||||
int16_t yacc; ///< Y acceleration (mg)
|
||||
int16_t zacc; ///< Z acceleration (mg)
|
||||
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
|
||||
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
|
||||
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
|
||||
int16_t xmag; ///< X Magnetic field (milli tesla)
|
||||
int16_t ymag; ///< Y Magnetic field (milli tesla)
|
||||
int16_t zmag; ///< Z Magnetic field (milli tesla)
|
||||
} mavlink_scaled_imu_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SCALED_IMU_LEN 26
|
||||
#define MAVLINK_MSG_ID_26_LEN 26
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
|
||||
"SCALED_IMU", \
|
||||
10, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_imu_t, usec) }, \
|
||||
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, xacc) }, \
|
||||
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, yacc) }, \
|
||||
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, zacc) }, \
|
||||
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, xgyro) }, \
|
||||
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, ygyro) }, \
|
||||
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, zgyro) }, \
|
||||
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, xmag) }, \
|
||||
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_scaled_imu_t, ymag) }, \
|
||||
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_scaled_imu_t, zmag) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a scaled_imu message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param xacc X acceleration (mg)
|
||||
* @param yacc Y acceleration (mg)
|
||||
* @param zacc Z acceleration (mg)
|
||||
* @param xgyro Angular speed around X axis (millirad /sec)
|
||||
* @param ygyro Angular speed around Y axis (millirad /sec)
|
||||
* @param zgyro Angular speed around Z axis (millirad /sec)
|
||||
* @param xmag X Magnetic field (milli tesla)
|
||||
* @param ymag Y Magnetic field (milli tesla)
|
||||
* @param zmag Z Magnetic field (milli tesla)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, xacc);
|
||||
_mav_put_int16_t(buf, 10, yacc);
|
||||
_mav_put_int16_t(buf, 12, zacc);
|
||||
_mav_put_int16_t(buf, 14, xgyro);
|
||||
_mav_put_int16_t(buf, 16, ygyro);
|
||||
_mav_put_int16_t(buf, 18, zgyro);
|
||||
_mav_put_int16_t(buf, 20, xmag);
|
||||
_mav_put_int16_t(buf, 22, ymag);
|
||||
_mav_put_int16_t(buf, 24, zmag);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_scaled_imu_t packet;
|
||||
packet.usec = usec;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
packet.xmag = xmag;
|
||||
packet.ymag = ymag;
|
||||
packet.zmag = zmag;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a scaled_imu message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param xacc X acceleration (mg)
|
||||
* @param yacc Y acceleration (mg)
|
||||
* @param zacc Z acceleration (mg)
|
||||
* @param xgyro Angular speed around X axis (millirad /sec)
|
||||
* @param ygyro Angular speed around Y axis (millirad /sec)
|
||||
* @param zgyro Angular speed around Z axis (millirad /sec)
|
||||
* @param xmag X Magnetic field (milli tesla)
|
||||
* @param ymag Y Magnetic field (milli tesla)
|
||||
* @param zmag Z Magnetic field (milli tesla)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, xacc);
|
||||
_mav_put_int16_t(buf, 10, yacc);
|
||||
_mav_put_int16_t(buf, 12, zacc);
|
||||
_mav_put_int16_t(buf, 14, xgyro);
|
||||
_mav_put_int16_t(buf, 16, ygyro);
|
||||
_mav_put_int16_t(buf, 18, zgyro);
|
||||
_mav_put_int16_t(buf, 20, xmag);
|
||||
_mav_put_int16_t(buf, 22, ymag);
|
||||
_mav_put_int16_t(buf, 24, zmag);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 26);
|
||||
#else
|
||||
mavlink_scaled_imu_t packet;
|
||||
packet.usec = usec;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
packet.xmag = xmag;
|
||||
packet.ymag = ymag;
|
||||
packet.zmag = zmag;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 26);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a scaled_imu struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param scaled_imu C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
|
||||
{
|
||||
return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->usec, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a scaled_imu message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param xacc X acceleration (mg)
|
||||
* @param yacc Y acceleration (mg)
|
||||
* @param zacc Z acceleration (mg)
|
||||
* @param xgyro Angular speed around X axis (millirad /sec)
|
||||
* @param ygyro Angular speed around Y axis (millirad /sec)
|
||||
* @param zgyro Angular speed around Z axis (millirad /sec)
|
||||
* @param xmag X Magnetic field (milli tesla)
|
||||
* @param ymag Y Magnetic field (milli tesla)
|
||||
* @param zmag Z Magnetic field (milli tesla)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[26];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_int16_t(buf, 8, xacc);
|
||||
_mav_put_int16_t(buf, 10, yacc);
|
||||
_mav_put_int16_t(buf, 12, zacc);
|
||||
_mav_put_int16_t(buf, 14, xgyro);
|
||||
_mav_put_int16_t(buf, 16, ygyro);
|
||||
_mav_put_int16_t(buf, 18, zgyro);
|
||||
_mav_put_int16_t(buf, 20, xmag);
|
||||
_mav_put_int16_t(buf, 22, ymag);
|
||||
_mav_put_int16_t(buf, 24, zmag);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 26);
|
||||
#else
|
||||
mavlink_scaled_imu_t packet;
|
||||
packet.usec = usec;
|
||||
packet.xacc = xacc;
|
||||
packet.yacc = yacc;
|
||||
packet.zacc = zacc;
|
||||
packet.xgyro = xgyro;
|
||||
packet.ygyro = ygyro;
|
||||
packet.zgyro = zgyro;
|
||||
packet.xmag = xmag;
|
||||
packet.ymag = ymag;
|
||||
packet.zmag = zmag;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 26);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SCALED_IMU UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from scaled_imu message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xacc from scaled_imu message
|
||||
*
|
||||
* @return X acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yacc from scaled_imu message
|
||||
*
|
||||
* @return Y acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zacc from scaled_imu message
|
||||
*
|
||||
* @return Z acceleration (mg)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xgyro from scaled_imu message
|
||||
*
|
||||
* @return Angular speed around X axis (millirad /sec)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ygyro from scaled_imu message
|
||||
*
|
||||
* @return Angular speed around Y axis (millirad /sec)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zgyro from scaled_imu message
|
||||
*
|
||||
* @return Angular speed around Z axis (millirad /sec)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field xmag from scaled_imu message
|
||||
*
|
||||
* @return X Magnetic field (milli tesla)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field ymag from scaled_imu message
|
||||
*
|
||||
* @return Y Magnetic field (milli tesla)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 22);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field zmag from scaled_imu message
|
||||
*
|
||||
* @return Z Magnetic field (milli tesla)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 24);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a scaled_imu message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param scaled_imu C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg);
|
||||
scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
|
||||
scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
|
||||
scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
|
||||
scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
|
||||
scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
|
||||
scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
|
||||
scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
|
||||
scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
|
||||
scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
|
||||
#else
|
||||
memcpy(scaled_imu, _MAV_PAYLOAD(msg), 26);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,210 @@
|
||||
// MESSAGE SCALED_PRESSURE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SCALED_PRESSURE 38
|
||||
|
||||
typedef struct __mavlink_scaled_pressure_t
|
||||
{
|
||||
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
float press_abs; ///< Absolute pressure (hectopascal)
|
||||
float press_diff; ///< Differential pressure 1 (hectopascal)
|
||||
int16_t temperature; ///< Temperature measurement (0.01 degrees celsius)
|
||||
} mavlink_scaled_pressure_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SCALED_PRESSURE_LEN 18
|
||||
#define MAVLINK_MSG_ID_38_LEN 18
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SCALED_PRESSURE { \
|
||||
"SCALED_PRESSURE", \
|
||||
4, \
|
||||
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_pressure_t, usec) }, \
|
||||
{ "press_abs", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_scaled_pressure_t, press_abs) }, \
|
||||
{ "press_diff", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_scaled_pressure_t, press_diff) }, \
|
||||
{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_pressure_t, temperature) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a scaled_pressure message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param press_abs Absolute pressure (hectopascal)
|
||||
* @param press_diff Differential pressure 1 (hectopascal)
|
||||
* @param temperature Temperature measurement (0.01 degrees celsius)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint64_t usec, float press_abs, float press_diff, int16_t temperature)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, press_abs);
|
||||
_mav_put_float(buf, 12, press_diff);
|
||||
_mav_put_int16_t(buf, 16, temperature);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_scaled_pressure_t packet;
|
||||
packet.usec = usec;
|
||||
packet.press_abs = press_abs;
|
||||
packet.press_diff = press_diff;
|
||||
packet.temperature = temperature;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a scaled_pressure message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param press_abs Absolute pressure (hectopascal)
|
||||
* @param press_diff Differential pressure 1 (hectopascal)
|
||||
* @param temperature Temperature measurement (0.01 degrees celsius)
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint64_t usec,float press_abs,float press_diff,int16_t temperature)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, press_abs);
|
||||
_mav_put_float(buf, 12, press_diff);
|
||||
_mav_put_int16_t(buf, 16, temperature);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 18);
|
||||
#else
|
||||
mavlink_scaled_pressure_t packet;
|
||||
packet.usec = usec;
|
||||
packet.press_abs = press_abs;
|
||||
packet.press_diff = press_diff;
|
||||
packet.temperature = temperature;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 18);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a scaled_pressure struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param scaled_pressure C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_scaled_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_pressure_t* scaled_pressure)
|
||||
{
|
||||
return mavlink_msg_scaled_pressure_pack(system_id, component_id, msg, scaled_pressure->usec, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a scaled_pressure message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
* @param press_abs Absolute pressure (hectopascal)
|
||||
* @param press_diff Differential pressure 1 (hectopascal)
|
||||
* @param temperature Temperature measurement (0.01 degrees celsius)
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint64_t usec, float press_abs, float press_diff, int16_t temperature)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[18];
|
||||
_mav_put_uint64_t(buf, 0, usec);
|
||||
_mav_put_float(buf, 8, press_abs);
|
||||
_mav_put_float(buf, 12, press_diff);
|
||||
_mav_put_int16_t(buf, 16, temperature);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, 18);
|
||||
#else
|
||||
mavlink_scaled_pressure_t packet;
|
||||
packet.usec = usec;
|
||||
packet.press_abs = press_abs;
|
||||
packet.press_diff = press_diff;
|
||||
packet.temperature = temperature;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, 18);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SCALED_PRESSURE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field usec from scaled_pressure message
|
||||
*
|
||||
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_scaled_pressure_get_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field press_abs from scaled_pressure message
|
||||
*
|
||||
* @return Absolute pressure (hectopascal)
|
||||
*/
|
||||
static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field press_diff from scaled_pressure message
|
||||
*
|
||||
* @return Differential pressure 1 (hectopascal)
|
||||
*/
|
||||
static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field temperature from scaled_pressure message
|
||||
*
|
||||
* @return Temperature measurement (0.01 degrees celsius)
|
||||
*/
|
||||
static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_int16_t(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a scaled_pressure message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param scaled_pressure C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_scaled_pressure_decode(const mavlink_message_t* msg, mavlink_scaled_pressure_t* scaled_pressure)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
scaled_pressure->usec = mavlink_msg_scaled_pressure_get_usec(msg);
|
||||
scaled_pressure->press_abs = mavlink_msg_scaled_pressure_get_press_abs(msg);
|
||||
scaled_pressure->press_diff = mavlink_msg_scaled_pressure_get_press_diff(msg);
|
||||
scaled_pressure->temperature = mavlink_msg_scaled_pressure_get_temperature(msg);
|
||||
#else
|
||||
memcpy(scaled_pressure, _MAV_PAYLOAD(msg), 18);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,298 @@
|
||||
// MESSAGE SERVO_OUTPUT_RAW PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 37
|
||||
|
||||
typedef struct __mavlink_servo_output_raw_t
|
||||
{
|
||||
uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
|
||||
uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
|
||||
uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
|
||||
uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
|
||||
uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
|
||||
uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
|
||||
uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
|
||||
uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
|
||||
} mavlink_servo_output_raw_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 16
|
||||
#define MAVLINK_MSG_ID_37_LEN 16
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW { \
|
||||
"SERVO_OUTPUT_RAW", \
|
||||
8, \
|
||||
{ { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
|
||||
{ "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
|
||||
{ "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
|
||||
{ "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
|
||||
{ "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
|
||||
{ "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
|
||||
{ "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
|
||||
{ "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a servo_output_raw message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param servo1_raw Servo output 1 value, in microseconds
|
||||
* @param servo2_raw Servo output 2 value, in microseconds
|
||||
* @param servo3_raw Servo output 3 value, in microseconds
|
||||
* @param servo4_raw Servo output 4 value, in microseconds
|
||||
* @param servo5_raw Servo output 5 value, in microseconds
|
||||
* @param servo6_raw Servo output 6 value, in microseconds
|
||||
* @param servo7_raw Servo output 7 value, in microseconds
|
||||
* @param servo8_raw Servo output 8 value, in microseconds
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_uint16_t(buf, 0, servo1_raw);
|
||||
_mav_put_uint16_t(buf, 2, servo2_raw);
|
||||
_mav_put_uint16_t(buf, 4, servo3_raw);
|
||||
_mav_put_uint16_t(buf, 6, servo4_raw);
|
||||
_mav_put_uint16_t(buf, 8, servo5_raw);
|
||||
_mav_put_uint16_t(buf, 10, servo6_raw);
|
||||
_mav_put_uint16_t(buf, 12, servo7_raw);
|
||||
_mav_put_uint16_t(buf, 14, servo8_raw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_servo_output_raw_t packet;
|
||||
packet.servo1_raw = servo1_raw;
|
||||
packet.servo2_raw = servo2_raw;
|
||||
packet.servo3_raw = servo3_raw;
|
||||
packet.servo4_raw = servo4_raw;
|
||||
packet.servo5_raw = servo5_raw;
|
||||
packet.servo6_raw = servo6_raw;
|
||||
packet.servo7_raw = servo7_raw;
|
||||
packet.servo8_raw = servo8_raw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a servo_output_raw message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param servo1_raw Servo output 1 value, in microseconds
|
||||
* @param servo2_raw Servo output 2 value, in microseconds
|
||||
* @param servo3_raw Servo output 3 value, in microseconds
|
||||
* @param servo4_raw Servo output 4 value, in microseconds
|
||||
* @param servo5_raw Servo output 5 value, in microseconds
|
||||
* @param servo6_raw Servo output 6 value, in microseconds
|
||||
* @param servo7_raw Servo output 7 value, in microseconds
|
||||
* @param servo8_raw Servo output 8 value, in microseconds
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint16_t servo1_raw,uint16_t servo2_raw,uint16_t servo3_raw,uint16_t servo4_raw,uint16_t servo5_raw,uint16_t servo6_raw,uint16_t servo7_raw,uint16_t servo8_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_uint16_t(buf, 0, servo1_raw);
|
||||
_mav_put_uint16_t(buf, 2, servo2_raw);
|
||||
_mav_put_uint16_t(buf, 4, servo3_raw);
|
||||
_mav_put_uint16_t(buf, 6, servo4_raw);
|
||||
_mav_put_uint16_t(buf, 8, servo5_raw);
|
||||
_mav_put_uint16_t(buf, 10, servo6_raw);
|
||||
_mav_put_uint16_t(buf, 12, servo7_raw);
|
||||
_mav_put_uint16_t(buf, 14, servo8_raw);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 16);
|
||||
#else
|
||||
mavlink_servo_output_raw_t packet;
|
||||
packet.servo1_raw = servo1_raw;
|
||||
packet.servo2_raw = servo2_raw;
|
||||
packet.servo3_raw = servo3_raw;
|
||||
packet.servo4_raw = servo4_raw;
|
||||
packet.servo5_raw = servo5_raw;
|
||||
packet.servo6_raw = servo6_raw;
|
||||
packet.servo7_raw = servo7_raw;
|
||||
packet.servo8_raw = servo8_raw;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 16);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a servo_output_raw struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param servo_output_raw C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
|
||||
{
|
||||
return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a servo_output_raw message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param servo1_raw Servo output 1 value, in microseconds
|
||||
* @param servo2_raw Servo output 2 value, in microseconds
|
||||
* @param servo3_raw Servo output 3 value, in microseconds
|
||||
* @param servo4_raw Servo output 4 value, in microseconds
|
||||
* @param servo5_raw Servo output 5 value, in microseconds
|
||||
* @param servo6_raw Servo output 6 value, in microseconds
|
||||
* @param servo7_raw Servo output 7 value, in microseconds
|
||||
* @param servo8_raw Servo output 8 value, in microseconds
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[16];
|
||||
_mav_put_uint16_t(buf, 0, servo1_raw);
|
||||
_mav_put_uint16_t(buf, 2, servo2_raw);
|
||||
_mav_put_uint16_t(buf, 4, servo3_raw);
|
||||
_mav_put_uint16_t(buf, 6, servo4_raw);
|
||||
_mav_put_uint16_t(buf, 8, servo5_raw);
|
||||
_mav_put_uint16_t(buf, 10, servo6_raw);
|
||||
_mav_put_uint16_t(buf, 12, servo7_raw);
|
||||
_mav_put_uint16_t(buf, 14, servo8_raw);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 16);
|
||||
#else
|
||||
mavlink_servo_output_raw_t packet;
|
||||
packet.servo1_raw = servo1_raw;
|
||||
packet.servo2_raw = servo2_raw;
|
||||
packet.servo3_raw = servo3_raw;
|
||||
packet.servo4_raw = servo4_raw;
|
||||
packet.servo5_raw = servo5_raw;
|
||||
packet.servo6_raw = servo6_raw;
|
||||
packet.servo7_raw = servo7_raw;
|
||||
packet.servo8_raw = servo8_raw;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 16);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SERVO_OUTPUT_RAW UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field servo1_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 1 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo2_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 2 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo3_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 3 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo4_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 4 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 6);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo5_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 5 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo6_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 6 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 10);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo7_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 7 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field servo8_raw from servo_output_raw message
|
||||
*
|
||||
* @return Servo output 8 value, in microseconds
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint16_t(msg, 14);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a servo_output_raw message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param servo_output_raw C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
|
||||
servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
|
||||
servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
|
||||
servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
|
||||
servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
|
||||
servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
|
||||
servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
|
||||
servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
|
||||
#else
|
||||
memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 16);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE SET_ALTITUDE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SET_ALTITUDE 65
|
||||
|
||||
typedef struct __mavlink_set_altitude_t
|
||||
{
|
||||
uint8_t target; ///< The system setting the altitude
|
||||
uint32_t mode; ///< The new altitude in meters
|
||||
} mavlink_set_altitude_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SET_ALTITUDE_LEN 5
|
||||
#define MAVLINK_MSG_ID_65_LEN 5
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SET_ALTITUDE { \
|
||||
"SET_ALTITUDE", \
|
||||
2, \
|
||||
{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_altitude_t, target) }, \
|
||||
{ "mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 1, offsetof(mavlink_set_altitude_t, mode) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a set_altitude message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target The system setting the altitude
|
||||
* @param mode The new altitude in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target, uint32_t mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[5];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint32_t(buf, 1, mode);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 5);
|
||||
#else
|
||||
mavlink_set_altitude_t packet;
|
||||
packet.target = target;
|
||||
packet.mode = mode;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a set_altitude message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target The system setting the altitude
|
||||
* @param mode The new altitude in meters
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target,uint32_t mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[5];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint32_t(buf, 1, mode);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 5);
|
||||
#else
|
||||
mavlink_set_altitude_t packet;
|
||||
packet.target = target;
|
||||
packet.mode = mode;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 5);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SET_ALTITUDE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a set_altitude struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param set_altitude C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_altitude_t* set_altitude)
|
||||
{
|
||||
return mavlink_msg_set_altitude_pack(system_id, component_id, msg, set_altitude->target, set_altitude->mode);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a set_altitude message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target The system setting the altitude
|
||||
* @param mode The new altitude in meters
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_set_altitude_send(mavlink_channel_t chan, uint8_t target, uint32_t mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[5];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint32_t(buf, 1, mode);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, buf, 5);
|
||||
#else
|
||||
mavlink_set_altitude_t packet;
|
||||
packet.target = target;
|
||||
packet.mode = mode;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ALTITUDE, (const char *)&packet, 5);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SET_ALTITUDE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target from set_altitude message
|
||||
*
|
||||
* @return The system setting the altitude
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_set_altitude_get_target(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mode from set_altitude message
|
||||
*
|
||||
* @return The new altitude in meters
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_set_altitude_get_mode(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a set_altitude message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param set_altitude C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_set_altitude_decode(const mavlink_message_t* msg, mavlink_set_altitude_t* set_altitude)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
set_altitude->target = mavlink_msg_set_altitude_get_target(msg);
|
||||
set_altitude->mode = mavlink_msg_set_altitude_get_mode(msg);
|
||||
#else
|
||||
memcpy(set_altitude, _MAV_PAYLOAD(msg), 5);
|
||||
#endif
|
||||
}
|
||||
@@ -0,0 +1,166 @@
|
||||
// MESSAGE SET_MODE PACKING
|
||||
|
||||
#define MAVLINK_MSG_ID_SET_MODE 11
|
||||
|
||||
typedef struct __mavlink_set_mode_t
|
||||
{
|
||||
uint8_t target; ///< The system setting the mode
|
||||
uint8_t mode; ///< The new mode
|
||||
} mavlink_set_mode_t;
|
||||
|
||||
#define MAVLINK_MSG_ID_SET_MODE_LEN 2
|
||||
#define MAVLINK_MSG_ID_11_LEN 2
|
||||
|
||||
|
||||
|
||||
#define MAVLINK_MESSAGE_INFO_SET_MODE { \
|
||||
"SET_MODE", \
|
||||
2, \
|
||||
{ { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mode_t, target) }, \
|
||||
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mode_t, mode) }, \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Pack a set_mode message
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
*
|
||||
* @param target The system setting the mode
|
||||
* @param mode The new mode
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||||
uint8_t target, uint8_t mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint8_t(buf, 1, mode);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 2);
|
||||
#else
|
||||
mavlink_set_mode_t packet;
|
||||
packet.target = target;
|
||||
packet.mode = mode;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SET_MODE;
|
||||
return mavlink_finalize_message(msg, system_id, component_id, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Pack a set_mode message on a channel
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param target The system setting the mode
|
||||
* @param mode The new mode
|
||||
* @return length of the message in bytes (excluding serial stream start sign)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||||
mavlink_message_t* msg,
|
||||
uint8_t target,uint8_t mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint8_t(buf, 1, mode);
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), buf, 2);
|
||||
#else
|
||||
mavlink_set_mode_t packet;
|
||||
packet.target = target;
|
||||
packet.mode = mode;
|
||||
|
||||
memcpy(_MAV_PAYLOAD(msg), &packet, 2);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_SET_MODE;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a set_mode struct into a message
|
||||
*
|
||||
* @param system_id ID of this system
|
||||
* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param set_mode C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
|
||||
{
|
||||
return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a set_mode message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param target The system setting the mode
|
||||
* @param mode The new mode
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[2];
|
||||
_mav_put_uint8_t(buf, 0, target);
|
||||
_mav_put_uint8_t(buf, 1, mode);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 2);
|
||||
#else
|
||||
mavlink_set_mode_t packet;
|
||||
packet.target = target;
|
||||
packet.mode = mode;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 2);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE SET_MODE UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field target from set_mode message
|
||||
*
|
||||
* @return The system setting the mode
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field mode from set_mode message
|
||||
*
|
||||
* @return The new mode
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a set_mode message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param set_mode C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
set_mode->target = mavlink_msg_set_mode_get_target(msg);
|
||||
set_mode->mode = mavlink_msg_set_mode_get_mode(msg);
|
||||
#else
|
||||
memcpy(set_mode, _MAV_PAYLOAD(msg), 2);
|
||||
#endif
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user