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

Last change on this file since 75 was 75, checked in by Thomas Fuhrmann, 8 years ago

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

File size: 8.0 KB
Line 
1// MESSAGE TIMESYNC PACKING
2
3#define MAVLINK_MSG_ID_TIMESYNC 111
4
5typedef struct MAVLINK_PACKED __mavlink_timesync_t
6{
7 int64_t tc1; /*< Time sync timestamp 1*/
8 int64_t ts1; /*< Time sync timestamp 2*/
9} mavlink_timesync_t;
10
11#define MAVLINK_MSG_ID_TIMESYNC_LEN 16
12#define MAVLINK_MSG_ID_TIMESYNC_MIN_LEN 16
13#define MAVLINK_MSG_ID_111_LEN 16
14#define MAVLINK_MSG_ID_111_MIN_LEN 16
15
16#define MAVLINK_MSG_ID_TIMESYNC_CRC 34
17#define MAVLINK_MSG_ID_111_CRC 34
18
19
20
21#if MAVLINK_COMMAND_24BIT
22#define MAVLINK_MESSAGE_INFO_TIMESYNC { \
23 111, \
24 "TIMESYNC", \
25 2, \
26 { { "tc1", NULL, MAVLINK_TYPE_INT64_T, 0, 0, offsetof(mavlink_timesync_t, tc1) }, \
27 { "ts1", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_timesync_t, ts1) }, \
28 } \
29}
30#else
31#define MAVLINK_MESSAGE_INFO_TIMESYNC { \
32 "TIMESYNC", \
33 2, \
34 { { "tc1", NULL, MAVLINK_TYPE_INT64_T, 0, 0, offsetof(mavlink_timesync_t, tc1) }, \
35 { "ts1", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_timesync_t, ts1) }, \
36 } \
37}
38#endif
39
40/**
41 * @brief Pack a timesync message
42 * @param system_id ID of this system
43 * @param component_id ID of this component (e.g. 200 for IMU)
44 * @param msg The MAVLink message to compress the data into
45 *
46 * @param tc1 Time sync timestamp 1
47 * @param ts1 Time sync timestamp 2
48 * @return length of the message in bytes (excluding serial stream start sign)
49 */
50static inline uint16_t mavlink_msg_timesync_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
51 int64_t tc1, int64_t ts1)
52{
53#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
54 char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
55 _mav_put_int64_t(buf, 0, tc1);
56 _mav_put_int64_t(buf, 8, ts1);
57
58 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
59#else
60 mavlink_timesync_t packet;
61 packet.tc1 = tc1;
62 packet.ts1 = ts1;
63
64 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
65#endif
66
67 msg->msgid = MAVLINK_MSG_ID_TIMESYNC;
68 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
69}
70
71/**
72 * @brief Pack a timesync message on a channel
73 * @param system_id ID of this system
74 * @param component_id ID of this component (e.g. 200 for IMU)
75 * @param chan The MAVLink channel this message will be sent over
76 * @param msg The MAVLink message to compress the data into
77 * @param tc1 Time sync timestamp 1
78 * @param ts1 Time sync timestamp 2
79 * @return length of the message in bytes (excluding serial stream start sign)
80 */
81static inline uint16_t mavlink_msg_timesync_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
82 mavlink_message_t* msg,
83 int64_t tc1,int64_t ts1)
84{
85#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
86 char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
87 _mav_put_int64_t(buf, 0, tc1);
88 _mav_put_int64_t(buf, 8, ts1);
89
90 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
91#else
92 mavlink_timesync_t packet;
93 packet.tc1 = tc1;
94 packet.ts1 = ts1;
95
96 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
97#endif
98
99 msg->msgid = MAVLINK_MSG_ID_TIMESYNC;
100 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
101}
102
103/**
104 * @brief Encode a timesync struct
105 *
106 * @param system_id ID of this system
107 * @param component_id ID of this component (e.g. 200 for IMU)
108 * @param msg The MAVLink message to compress the data into
109 * @param timesync C-struct to read the message contents from
110 */
111static inline uint16_t mavlink_msg_timesync_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_timesync_t* timesync)
112{
113 return mavlink_msg_timesync_pack(system_id, component_id, msg, timesync->tc1, timesync->ts1);
114}
115
116/**
117 * @brief Encode a timesync struct on a channel
118 *
119 * @param system_id ID of this system
120 * @param component_id ID of this component (e.g. 200 for IMU)
121 * @param chan The MAVLink channel this message will be sent over
122 * @param msg The MAVLink message to compress the data into
123 * @param timesync C-struct to read the message contents from
124 */
125static inline uint16_t mavlink_msg_timesync_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_timesync_t* timesync)
126{
127 return mavlink_msg_timesync_pack_chan(system_id, component_id, chan, msg, timesync->tc1, timesync->ts1);
128}
129
130/**
131 * @brief Send a timesync message
132 * @param chan MAVLink channel to send the message
133 *
134 * @param tc1 Time sync timestamp 1
135 * @param ts1 Time sync timestamp 2
136 */
137#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
138
139static inline void mavlink_msg_timesync_send(mavlink_channel_t chan, int64_t tc1, int64_t ts1)
140{
141#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
142 char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
143 _mav_put_int64_t(buf, 0, tc1);
144 _mav_put_int64_t(buf, 8, ts1);
145
146 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
147#else
148 mavlink_timesync_t packet;
149 packet.tc1 = tc1;
150 packet.ts1 = ts1;
151
152 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)&packet, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
153#endif
154}
155
156/**
157 * @brief Send a timesync message
158 * @param chan MAVLink channel to send the message
159 * @param struct The MAVLink struct to serialize
160 */
161static inline void mavlink_msg_timesync_send_struct(mavlink_channel_t chan, const mavlink_timesync_t* timesync)
162{
163#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
164 mavlink_msg_timesync_send(chan, timesync->tc1, timesync->ts1);
165#else
166 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)timesync, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
167#endif
168}
169
170#if MAVLINK_MSG_ID_TIMESYNC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
171/*
172 This varient of _send() can be used to save stack space by re-using
173 memory from the receive buffer. The caller provides a
174 mavlink_message_t which is the size of a full mavlink message. This
175 is usually the receive buffer for the channel, and allows a reply to an
176 incoming message with minimum stack space usage.
177 */
178static inline void mavlink_msg_timesync_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int64_t tc1, int64_t ts1)
179{
180#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
181 char *buf = (char *)msgbuf;
182 _mav_put_int64_t(buf, 0, tc1);
183 _mav_put_int64_t(buf, 8, ts1);
184
185 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
186#else
187 mavlink_timesync_t *packet = (mavlink_timesync_t *)msgbuf;
188 packet->tc1 = tc1;
189 packet->ts1 = ts1;
190
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)packet, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
192#endif
193}
194#endif
195
196#endif
197
198// MESSAGE TIMESYNC UNPACKING
199
200
201/**
202 * @brief Get field tc1 from timesync message
203 *
204 * @return Time sync timestamp 1
205 */
206static inline int64_t mavlink_msg_timesync_get_tc1(const mavlink_message_t* msg)
207{
208 return _MAV_RETURN_int64_t(msg, 0);
209}
210
211/**
212 * @brief Get field ts1 from timesync message
213 *
214 * @return Time sync timestamp 2
215 */
216static inline int64_t mavlink_msg_timesync_get_ts1(const mavlink_message_t* msg)
217{
218 return _MAV_RETURN_int64_t(msg, 8);
219}
220
221/**
222 * @brief Decode a timesync message into a struct
223 *
224 * @param msg The message to decode
225 * @param timesync C-struct to decode the message contents into
226 */
227static inline void mavlink_msg_timesync_decode(const mavlink_message_t* msg, mavlink_timesync_t* timesync)
228{
229#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
230 timesync->tc1 = mavlink_msg_timesync_get_tc1(msg);
231 timesync->ts1 = mavlink_msg_timesync_get_ts1(msg);
232#else
233 uint8_t len = msg->len < MAVLINK_MSG_ID_TIMESYNC_LEN? msg->len : MAVLINK_MSG_ID_TIMESYNC_LEN;
234 memset(timesync, 0, MAVLINK_MSG_ID_TIMESYNC_LEN);
235 memcpy(timesync, _MAV_PAYLOAD(msg), len);
236#endif
237}
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