source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_debug.h @ 75

Last change on this file since 75 was 75, checked in by Thomas Fuhrmann, 5 years ago

Change the version of mavlink generated messages and rename it to include

File size: 9.0 KB
Line 
1// MESSAGE DEBUG PACKING
2
3#define MAVLINK_MSG_ID_DEBUG 254
4
5typedef struct MAVLINK_PACKED __mavlink_debug_t
6{
7 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
8 float value; /*< DEBUG value*/
9 uint8_t ind; /*< index of debug variable*/
10} mavlink_debug_t;
11
12#define MAVLINK_MSG_ID_DEBUG_LEN 9
13#define MAVLINK_MSG_ID_DEBUG_MIN_LEN 9
14#define MAVLINK_MSG_ID_254_LEN 9
15#define MAVLINK_MSG_ID_254_MIN_LEN 9
16
17#define MAVLINK_MSG_ID_DEBUG_CRC 46
18#define MAVLINK_MSG_ID_254_CRC 46
19
20
21
22#if MAVLINK_COMMAND_24BIT
23#define MAVLINK_MESSAGE_INFO_DEBUG { \
24        254, \
25        "DEBUG", \
26        3, \
27        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
28         { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
29         { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
30         } \
31}
32#else
33#define MAVLINK_MESSAGE_INFO_DEBUG { \
34        "DEBUG", \
35        3, \
36        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
37         { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
38         { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
39         } \
40}
41#endif
42
43/**
44 * @brief Pack a debug message
45 * @param system_id ID of this system
46 * @param component_id ID of this component (e.g. 200 for IMU)
47 * @param msg The MAVLink message to compress the data into
48 *
49 * @param time_boot_ms Timestamp (milliseconds since system boot)
50 * @param ind index of debug variable
51 * @param value DEBUG value
52 * @return length of the message in bytes (excluding serial stream start sign)
53 */
54static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
55                                                       uint32_t time_boot_ms, uint8_t ind, float value)
56{
57#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
58        char buf[MAVLINK_MSG_ID_DEBUG_LEN];
59        _mav_put_uint32_t(buf, 0, time_boot_ms);
60        _mav_put_float(buf, 4, value);
61        _mav_put_uint8_t(buf, 8, ind);
62
63        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
64#else
65        mavlink_debug_t packet;
66        packet.time_boot_ms = time_boot_ms;
67        packet.value = value;
68        packet.ind = ind;
69
70        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
71#endif
72
73        msg->msgid = MAVLINK_MSG_ID_DEBUG;
74    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
75}
76
77/**
78 * @brief Pack a debug message on a channel
79 * @param system_id ID of this system
80 * @param component_id ID of this component (e.g. 200 for IMU)
81 * @param chan The MAVLink channel this message will be sent over
82 * @param msg The MAVLink message to compress the data into
83 * @param time_boot_ms Timestamp (milliseconds since system boot)
84 * @param ind index of debug variable
85 * @param value DEBUG value
86 * @return length of the message in bytes (excluding serial stream start sign)
87 */
88static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
89                                                           mavlink_message_t* msg,
90                                                           uint32_t time_boot_ms,uint8_t ind,float value)
91{
92#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
93        char buf[MAVLINK_MSG_ID_DEBUG_LEN];
94        _mav_put_uint32_t(buf, 0, time_boot_ms);
95        _mav_put_float(buf, 4, value);
96        _mav_put_uint8_t(buf, 8, ind);
97
98        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
99#else
100        mavlink_debug_t packet;
101        packet.time_boot_ms = time_boot_ms;
102        packet.value = value;
103        packet.ind = ind;
104
105        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
106#endif
107
108        msg->msgid = MAVLINK_MSG_ID_DEBUG;
109    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
110}
111
112/**
113 * @brief Encode a debug struct
114 *
115 * @param system_id ID of this system
116 * @param component_id ID of this component (e.g. 200 for IMU)
117 * @param msg The MAVLink message to compress the data into
118 * @param debug C-struct to read the message contents from
119 */
120static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
121{
122        return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value);
123}
124
125/**
126 * @brief Encode a debug struct on a channel
127 *
128 * @param system_id ID of this system
129 * @param component_id ID of this component (e.g. 200 for IMU)
130 * @param chan The MAVLink channel this message will be sent over
131 * @param msg The MAVLink message to compress the data into
132 * @param debug C-struct to read the message contents from
133 */
134static inline uint16_t mavlink_msg_debug_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_t* debug)
135{
136        return mavlink_msg_debug_pack_chan(system_id, component_id, chan, msg, debug->time_boot_ms, debug->ind, debug->value);
137}
138
139/**
140 * @brief Send a debug message
141 * @param chan MAVLink channel to send the message
142 *
143 * @param time_boot_ms Timestamp (milliseconds since system boot)
144 * @param ind index of debug variable
145 * @param value DEBUG value
146 */
147#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
148
149static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
150{
151#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
152        char buf[MAVLINK_MSG_ID_DEBUG_LEN];
153        _mav_put_uint32_t(buf, 0, time_boot_ms);
154        _mav_put_float(buf, 4, value);
155        _mav_put_uint8_t(buf, 8, ind);
156
157    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
158#else
159        mavlink_debug_t packet;
160        packet.time_boot_ms = time_boot_ms;
161        packet.value = value;
162        packet.ind = ind;
163
164    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
165#endif
166}
167
168/**
169 * @brief Send a debug message
170 * @param chan MAVLink channel to send the message
171 * @param struct The MAVLink struct to serialize
172 */
173static inline void mavlink_msg_debug_send_struct(mavlink_channel_t chan, const mavlink_debug_t* debug)
174{
175#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
176    mavlink_msg_debug_send(chan, debug->time_boot_ms, debug->ind, debug->value);
177#else
178    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)debug, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
179#endif
180}
181
182#if MAVLINK_MSG_ID_DEBUG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
183/*
184  This varient of _send() can be used to save stack space by re-using
185  memory from the receive buffer.  The caller provides a
186  mavlink_message_t which is the size of a full mavlink message. This
187  is usually the receive buffer for the channel, and allows a reply to an
188  incoming message with minimum stack space usage.
189 */
190static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t ind, float value)
191{
192#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
193        char *buf = (char *)msgbuf;
194        _mav_put_uint32_t(buf, 0, time_boot_ms);
195        _mav_put_float(buf, 4, value);
196        _mav_put_uint8_t(buf, 8, ind);
197
198    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
199#else
200        mavlink_debug_t *packet = (mavlink_debug_t *)msgbuf;
201        packet->time_boot_ms = time_boot_ms;
202        packet->value = value;
203        packet->ind = ind;
204
205    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
206#endif
207}
208#endif
209
210#endif
211
212// MESSAGE DEBUG UNPACKING
213
214
215/**
216 * @brief Get field time_boot_ms from debug message
217 *
218 * @return Timestamp (milliseconds since system boot)
219 */
220static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
221{
222        return _MAV_RETURN_uint32_t(msg,  0);
223}
224
225/**
226 * @brief Get field ind from debug message
227 *
228 * @return index of debug variable
229 */
230static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
231{
232        return _MAV_RETURN_uint8_t(msg,  8);
233}
234
235/**
236 * @brief Get field value from debug message
237 *
238 * @return DEBUG value
239 */
240static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
241{
242        return _MAV_RETURN_float(msg,  4);
243}
244
245/**
246 * @brief Decode a debug message into a struct
247 *
248 * @param msg The message to decode
249 * @param debug C-struct to decode the message contents into
250 */
251static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
252{
253#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
254        debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
255        debug->value = mavlink_msg_debug_get_value(msg);
256        debug->ind = mavlink_msg_debug_get_ind(msg);
257#else
258        uint8_t len = msg->len < MAVLINK_MSG_ID_DEBUG_LEN? msg->len : MAVLINK_MSG_ID_DEBUG_LEN;
259        memset(debug, 0, MAVLINK_MSG_ID_DEBUG_LEN);
260        memcpy(debug, _MAV_PAYLOAD(msg), len);
261#endif
262}
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