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Commit d97e3be1 authored by Lorenz Meier's avatar Lorenz Meier
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Merge pull request #739 from mavlink/mavlinksubmodule 

Mavlink submodule
parents 6d093c1e 40fd4e55
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.gitmodules
View file @ d97e3be1
[submodule "qupgrade"]
path = qupgrade
url = https://github.com/LorenzMeier/qupgrade.git
[submodule "libs/mavlink/include/mavlink/v1.0"]
path = libs/mavlink/include/mavlink/v1.0
url = https://github.com/mavlink/c_library.git
v1.0 @ 950958de
Subproject commit 950958de0de346d0ec13272b73ec7393f6a858fc
libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink.h deleted 100644 → 0
View file @ 6d093c1e
/** @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 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "ardupilotmega.h"
#endif // MAVLINK_H
libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h deleted 100644 → 0
View file @ 6d093c1e
// MESSAGE DATA16 PACKING
#define MAVLINK_MSG_ID_DATA16 169
typedef struct __mavlink_data16_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[16]; ///< raw data
} mavlink_data16_t;
#define MAVLINK_MSG_ID_DATA16_LEN 18
#define MAVLINK_MSG_ID_169_LEN 18
#define MAVLINK_MSG_ID_DATA16_CRC 234
#define MAVLINK_MSG_ID_169_CRC 234
#define MAVLINK_MSG_DATA16_FIELD_DATA_LEN 16
#define MAVLINK_MESSAGE_INFO_DATA16 { \
"DATA16", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data16_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data16_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 16, 2, offsetof(mavlink_data16_t, data) }, \
} \
}
/**
* @brief Pack a data16 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 data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA16_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
#else
mavlink_data16_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA16;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_LEN);
#endif
}
/**
* @brief Pack a data16 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data16_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA16_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
#else
mavlink_data16_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA16;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_LEN);
#endif
}
/**
* @brief Encode a data16 struct
*
* @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 data16 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data16_t* data16)
{
return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data);
}
/**
* @brief Encode a data16 struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param data16 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data16_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data16_t* data16)
{
return mavlink_msg_data16_pack_chan(system_id, component_id, chan, msg, data16->type, data16->len, data16->data);
}
/**
* @brief Send a data16 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA16_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN);
#endif
#else
mavlink_data16_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_DATA16_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data16_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 16);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN);
#endif
#else
mavlink_data16_t *packet = (mavlink_data16_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*16);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA16 UNPACKING
/**
* @brief Get field type from data16 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data16_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data16 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data16_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data16 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data16_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 16, 2);
}
/**
* @brief Decode a data16 message into a struct
*
* @param msg The message to decode
* @param data16 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data16_decode(const mavlink_message_t* msg, mavlink_data16_t* data16)
{
#if MAVLINK_NEED_BYTE_SWAP
data16->type = mavlink_msg_data16_get_type(msg);
data16->len = mavlink_msg_data16_get_len(msg);
mavlink_msg_data16_get_data(msg, data16->data);
#else
memcpy(data16, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA16_LEN);
#endif
}
libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h deleted 100644 → 0
View file @ 6d093c1e
// MESSAGE DATA32 PACKING
#define MAVLINK_MSG_ID_DATA32 170
typedef struct __mavlink_data32_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[32]; ///< raw data
} mavlink_data32_t;
#define MAVLINK_MSG_ID_DATA32_LEN 34
#define MAVLINK_MSG_ID_170_LEN 34
#define MAVLINK_MSG_ID_DATA32_CRC 73
#define MAVLINK_MSG_ID_170_CRC 73
#define MAVLINK_MSG_DATA32_FIELD_DATA_LEN 32
#define MAVLINK_MESSAGE_INFO_DATA32 { \
"DATA32", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data32_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data32_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 32, 2, offsetof(mavlink_data32_t, data) }, \
} \
}
/**
* @brief Pack a data32 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 data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data32_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA32_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA32_LEN);
#else
mavlink_data32_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA32_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA32;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA32_LEN);
#endif
}
/**
* @brief Pack a data32 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data32_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA32_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA32_LEN);
#else
mavlink_data32_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA32_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA32;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA32_LEN);
#endif
}
/**
* @brief Encode a data32 struct
*
* @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 data32 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data32_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data32_t* data32)
{
return mavlink_msg_data32_pack(system_id, component_id, msg, data32->type, data32->len, data32->data);
}
/**
* @brief Encode a data32 struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param data32 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data32_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data32_t* data32)
{
return mavlink_msg_data32_pack_chan(system_id, component_id, chan, msg, data32->type, data32->len, data32->data);
}
/**
* @brief Send a data32 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data32_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA32_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN);
#endif
#else
mavlink_data32_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, MAVLINK_MSG_ID_DATA32_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_DATA32_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data32_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN);
#endif
#else
mavlink_data32_t *packet = (mavlink_data32_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)packet, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)packet, MAVLINK_MSG_ID_DATA32_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA32 UNPACKING
/**
* @brief Get field type from data32 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data32_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data32 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data32_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data32 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data32_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 32, 2);
}
/**
* @brief Decode a data32 message into a struct
*
* @param msg The message to decode
* @param data32 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data32_decode(const mavlink_message_t* msg, mavlink_data32_t* data32)
{
#if MAVLINK_NEED_BYTE_SWAP
data32->type = mavlink_msg_data32_get_type(msg);
data32->len = mavlink_msg_data32_get_len(msg);
mavlink_msg_data32_get_data(msg, data32->data);
#else
memcpy(data32, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA32_LEN);
#endif
}
libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h deleted 100644 → 0
View file @ 6d093c1e
// MESSAGE DATA64 PACKING
#define MAVLINK_MSG_ID_DATA64 171
typedef struct __mavlink_data64_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[64]; ///< raw data
} mavlink_data64_t;
#define MAVLINK_MSG_ID_DATA64_LEN 66
#define MAVLINK_MSG_ID_171_LEN 66
#define MAVLINK_MSG_ID_DATA64_CRC 181
#define MAVLINK_MSG_ID_171_CRC 181
#define MAVLINK_MSG_DATA64_FIELD_DATA_LEN 64
#define MAVLINK_MESSAGE_INFO_DATA64 { \
"DATA64", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data64_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data64_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 64, 2, offsetof(mavlink_data64_t, data) }, \
} \
}
/**
* @brief Pack a data64 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 data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data64_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA64_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA64_LEN);
#else
mavlink_data64_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA64_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA64;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA64_LEN);
#endif
}
/**
* @brief Pack a data64 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data64_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA64_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA64_LEN);
#else
mavlink_data64_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA64_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA64;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA64_LEN);
#endif
}
/**
* @brief Encode a data64 struct
*
* @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 data64 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data64_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data64_t* data64)
{
return mavlink_msg_data64_pack(system_id, component_id, msg, data64->type, data64->len, data64->data);
}
/**
* @brief Encode a data64 struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param data64 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data64_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data64_t* data64)
{
return mavlink_msg_data64_pack_chan(system_id, component_id, chan, msg, data64->type, data64->len, data64->data);
}
/**
* @brief Send a data64 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data64_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA64_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN);
#endif
#else
mavlink_data64_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, MAVLINK_MSG_ID_DATA64_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_DATA64_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data64_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 64);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN);
#endif
#else
mavlink_data64_t *packet = (mavlink_data64_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*64);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)packet, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)packet, MAVLINK_MSG_ID_DATA64_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA64 UNPACKING
/**
* @brief Get field type from data64 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data64_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data64 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data64_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data64 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data64_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 64, 2);
}
/**
* @brief Decode a data64 message into a struct
*
* @param msg The message to decode
* @param data64 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data64_decode(const mavlink_message_t* msg, mavlink_data64_t* data64)
{
#if MAVLINK_NEED_BYTE_SWAP
data64->type = mavlink_msg_data64_get_type(msg);
data64->len = mavlink_msg_data64_get_len(msg);
mavlink_msg_data64_get_data(msg, data64->data);
#else
memcpy(data64, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA64_LEN);
#endif
}
libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h deleted 100644 → 0
View file @ 6d093c1e
// MESSAGE DATA96 PACKING
#define MAVLINK_MSG_ID_DATA96 172
typedef struct __mavlink_data96_t
{
uint8_t type; ///< data type
uint8_t len; ///< data length
uint8_t data[96]; ///< raw data
} mavlink_data96_t;
#define MAVLINK_MSG_ID_DATA96_LEN 98
#define MAVLINK_MSG_ID_172_LEN 98
#define MAVLINK_MSG_ID_DATA96_CRC 22
#define MAVLINK_MSG_ID_172_CRC 22
#define MAVLINK_MSG_DATA96_FIELD_DATA_LEN 96
#define MAVLINK_MESSAGE_INFO_DATA96 { \
"DATA96", \
3, \
{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data96_t, type) }, \
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data96_t, len) }, \
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 96, 2, offsetof(mavlink_data96_t, data) }, \
} \
}
/**
* @brief Pack a data96 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 data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data96_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA96_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN);
#else
mavlink_data96_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA96;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_LEN);
#endif
}
/**
* @brief Pack a data96 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param type data type
* @param len data length
* @param data raw data
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data96_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t type,uint8_t len,const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA96_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN);
#else
mavlink_data96_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA96;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_LEN);
#endif
}
/**
* @brief Encode a data96 struct
*
* @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 data96 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data96_t* data96)
{
return mavlink_msg_data96_pack(system_id, component_id, msg, data96->type, data96->len, data96->data);
}
/**
* @brief Encode a data96 struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param data96 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data96_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data96_t* data96)
{
return mavlink_msg_data96_pack_chan(system_id, component_id, chan, msg, data96->type, data96->len, data96->data);
}
/**
* @brief Send a data96 message
* @param chan MAVLink channel to send the message
*
* @param type data type
* @param len data length
* @param data raw data
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA96_LEN];
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN);
#endif
#else
mavlink_data96_t packet;
packet.type = type;
packet.len = len;
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_DATA96_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_data96_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint8_t(buf, 0, type);
_mav_put_uint8_t(buf, 1, len);
_mav_put_uint8_t_array(buf, 2, data, 96);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN);
#endif
#else
mavlink_data96_t *packet = (mavlink_data96_t *)msgbuf;
packet->type = type;
packet->len = len;
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*96);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE DATA96 UNPACKING
/**
* @brief Get field type from data96 message
*
* @return data type
*/
static inline uint8_t mavlink_msg_data96_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 0);
}
/**
* @brief Get field len from data96 message
*
* @return data length
*/
static inline uint8_t mavlink_msg_data96_get_len(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 1);
}
/**
* @brief Get field data from data96 message
*
* @return raw data
*/
static inline uint16_t mavlink_msg_data96_get_data(const mavlink_message_t* msg, uint8_t *data)
{
return _MAV_RETURN_uint8_t_array(msg, data, 96, 2);
}
/**
* @brief Decode a data96 message into a struct
*
* @param msg The message to decode
* @param data96 C-struct to decode the message contents into
*/
static inline void mavlink_msg_data96_decode(const mavlink_message_t* msg, mavlink_data96_t* data96)
{
#if MAVLINK_NEED_BYTE_SWAP
data96->type = mavlink_msg_data96_get_type(msg);
data96->len = mavlink_msg_data96_get_len(msg);
mavlink_msg_data96_get_data(msg, data96->data);
#else
memcpy(data96, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA96_LEN);
#endif
}
libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h deleted 100644 → 0
View file @ 6d093c1e
// MESSAGE HWSTATUS PACKING
#define MAVLINK_MSG_ID_HWSTATUS 165
typedef struct __mavlink_hwstatus_t
{
uint16_t Vcc; ///< board voltage (mV)
uint8_t I2Cerr; ///< I2C error count
} mavlink_hwstatus_t;
#define MAVLINK_MSG_ID_HWSTATUS_LEN 3
#define MAVLINK_MSG_ID_165_LEN 3
#define MAVLINK_MSG_ID_HWSTATUS_CRC 21
#define MAVLINK_MSG_ID_165_CRC 21
#define MAVLINK_MESSAGE_INFO_HWSTATUS { \
"HWSTATUS", \
2, \
{ { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_hwstatus_t, Vcc) }, \
{ "I2Cerr", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_hwstatus_t, I2Cerr) }, \
} \
}
/**
* @brief Pack a hwstatus 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 Vcc board voltage (mV)
* @param I2Cerr I2C error count
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
}
/**
* @brief Pack a hwstatus 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param Vcc board voltage (mV)
* @param I2Cerr I2C error count
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t Vcc,uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
}
/**
* @brief Encode a hwstatus struct
*
* @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 hwstatus C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hwstatus_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
{
return mavlink_msg_hwstatus_pack(system_id, component_id, msg, hwstatus->Vcc, hwstatus->I2Cerr);
}
/**
* @brief Encode a hwstatus struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param hwstatus C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hwstatus_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
{
return mavlink_msg_hwstatus_pack_chan(system_id, component_id, chan, msg, hwstatus->Vcc, hwstatus->I2Cerr);
}
/**
* @brief Send a hwstatus message
* @param chan MAVLink channel to send the message
*
* @param Vcc board voltage (mV)
* @param I2Cerr I2C error count
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_HWSTATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_hwstatus_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
#else
mavlink_hwstatus_t *packet = (mavlink_hwstatus_t *)msgbuf;
packet->Vcc = Vcc;
packet->I2Cerr = I2Cerr;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE HWSTATUS UNPACKING
/**
* @brief Get field Vcc from hwstatus message
*
* @return board voltage (mV)
*/
static inline uint16_t mavlink_msg_hwstatus_get_Vcc(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field I2Cerr from hwstatus message
*
* @return I2C error count
*/
static inline uint8_t mavlink_msg_hwstatus_get_I2Cerr(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a hwstatus message into a struct
*
* @param msg The message to decode
* @param hwstatus C-struct to decode the message contents into
*/
static inline void mavlink_msg_hwstatus_decode(const mavlink_message_t* msg, mavlink_hwstatus_t* hwstatus)
{
#if MAVLINK_NEED_BYTE_SWAP
hwstatus->Vcc = mavlink_msg_hwstatus_get_Vcc(msg);
hwstatus->I2Cerr = mavlink_msg_hwstatus_get_I2Cerr(msg);
#else
memcpy(hwstatus, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
}
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/** @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 "Sun Apr 13 09:37:48 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
#endif // MAVLINK_VERSION_H
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/** @file
* @brief MAVLink comm protocol built from autoquad.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 254
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 1
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 1
#endif
#include "version.h"
#include "autoquad.h"
#endif // MAVLINK_H
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/** @file
* @brief MAVLink comm protocol built from autoquad.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Sun Apr 13 09:38:19 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
#endif // MAVLINK_VERSION_H
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