source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_vibration.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: 14.5 KB
Line 
1// MESSAGE VIBRATION PACKING
2
3#define MAVLINK_MSG_ID_VIBRATION 241
4
5typedef struct MAVLINK_PACKED __mavlink_vibration_t
6{
7 uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
8 float vibration_x; /*< Vibration levels on X-axis*/
9 float vibration_y; /*< Vibration levels on Y-axis*/
10 float vibration_z; /*< Vibration levels on Z-axis*/
11 uint32_t clipping_0; /*< first accelerometer clipping count*/
12 uint32_t clipping_1; /*< second accelerometer clipping count*/
13 uint32_t clipping_2; /*< third accelerometer clipping count*/
14} mavlink_vibration_t;
15
16#define MAVLINK_MSG_ID_VIBRATION_LEN 32
17#define MAVLINK_MSG_ID_VIBRATION_MIN_LEN 32
18#define MAVLINK_MSG_ID_241_LEN 32
19#define MAVLINK_MSG_ID_241_MIN_LEN 32
20
21#define MAVLINK_MSG_ID_VIBRATION_CRC 90
22#define MAVLINK_MSG_ID_241_CRC 90
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_VIBRATION { \
28        241, \
29        "VIBRATION", \
30        7, \
31        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vibration_t, time_usec) }, \
32         { "vibration_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vibration_t, vibration_x) }, \
33         { "vibration_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vibration_t, vibration_y) }, \
34         { "vibration_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vibration_t, vibration_z) }, \
35         { "clipping_0", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_vibration_t, clipping_0) }, \
36         { "clipping_1", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_vibration_t, clipping_1) }, \
37         { "clipping_2", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_vibration_t, clipping_2) }, \
38         } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_VIBRATION { \
42        "VIBRATION", \
43        7, \
44        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vibration_t, time_usec) }, \
45         { "vibration_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vibration_t, vibration_x) }, \
46         { "vibration_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vibration_t, vibration_y) }, \
47         { "vibration_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vibration_t, vibration_z) }, \
48         { "clipping_0", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_vibration_t, clipping_0) }, \
49         { "clipping_1", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_vibration_t, clipping_1) }, \
50         { "clipping_2", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_vibration_t, clipping_2) }, \
51         } \
52}
53#endif
54
55/**
56 * @brief Pack a vibration message
57 * @param system_id ID of this system
58 * @param component_id ID of this component (e.g. 200 for IMU)
59 * @param msg The MAVLink message to compress the data into
60 *
61 * @param time_usec Timestamp (micros since boot or Unix epoch)
62 * @param vibration_x Vibration levels on X-axis
63 * @param vibration_y Vibration levels on Y-axis
64 * @param vibration_z Vibration levels on Z-axis
65 * @param clipping_0 first accelerometer clipping count
66 * @param clipping_1 second accelerometer clipping count
67 * @param clipping_2 third accelerometer clipping count
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_vibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71                                                       uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74        char buf[MAVLINK_MSG_ID_VIBRATION_LEN];
75        _mav_put_uint64_t(buf, 0, time_usec);
76        _mav_put_float(buf, 8, vibration_x);
77        _mav_put_float(buf, 12, vibration_y);
78        _mav_put_float(buf, 16, vibration_z);
79        _mav_put_uint32_t(buf, 20, clipping_0);
80        _mav_put_uint32_t(buf, 24, clipping_1);
81        _mav_put_uint32_t(buf, 28, clipping_2);
82
83        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VIBRATION_LEN);
84#else
85        mavlink_vibration_t packet;
86        packet.time_usec = time_usec;
87        packet.vibration_x = vibration_x;
88        packet.vibration_y = vibration_y;
89        packet.vibration_z = vibration_z;
90        packet.clipping_0 = clipping_0;
91        packet.clipping_1 = clipping_1;
92        packet.clipping_2 = clipping_2;
93
94        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VIBRATION_LEN);
95#endif
96
97        msg->msgid = MAVLINK_MSG_ID_VIBRATION;
98    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
99}
100
101/**
102 * @brief Pack a vibration message on a channel
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param chan The MAVLink channel this message will be sent over
106 * @param msg The MAVLink message to compress the data into
107 * @param time_usec Timestamp (micros since boot or Unix epoch)
108 * @param vibration_x Vibration levels on X-axis
109 * @param vibration_y Vibration levels on Y-axis
110 * @param vibration_z Vibration levels on Z-axis
111 * @param clipping_0 first accelerometer clipping count
112 * @param clipping_1 second accelerometer clipping count
113 * @param clipping_2 third accelerometer clipping count
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_vibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117                                                           mavlink_message_t* msg,
118                                                           uint64_t time_usec,float vibration_x,float vibration_y,float vibration_z,uint32_t clipping_0,uint32_t clipping_1,uint32_t clipping_2)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121        char buf[MAVLINK_MSG_ID_VIBRATION_LEN];
122        _mav_put_uint64_t(buf, 0, time_usec);
123        _mav_put_float(buf, 8, vibration_x);
124        _mav_put_float(buf, 12, vibration_y);
125        _mav_put_float(buf, 16, vibration_z);
126        _mav_put_uint32_t(buf, 20, clipping_0);
127        _mav_put_uint32_t(buf, 24, clipping_1);
128        _mav_put_uint32_t(buf, 28, clipping_2);
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VIBRATION_LEN);
131#else
132        mavlink_vibration_t packet;
133        packet.time_usec = time_usec;
134        packet.vibration_x = vibration_x;
135        packet.vibration_y = vibration_y;
136        packet.vibration_z = vibration_z;
137        packet.clipping_0 = clipping_0;
138        packet.clipping_1 = clipping_1;
139        packet.clipping_2 = clipping_2;
140
141        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VIBRATION_LEN);
142#endif
143
144        msg->msgid = MAVLINK_MSG_ID_VIBRATION;
145    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
146}
147
148/**
149 * @brief Encode a vibration struct
150 *
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param msg The MAVLink message to compress the data into
154 * @param vibration C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_vibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vibration_t* vibration)
157{
158        return mavlink_msg_vibration_pack(system_id, component_id, msg, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2);
159}
160
161/**
162 * @brief Encode a vibration struct on a channel
163 *
164 * @param system_id ID of this system
165 * @param component_id ID of this component (e.g. 200 for IMU)
166 * @param chan The MAVLink channel this message will be sent over
167 * @param msg The MAVLink message to compress the data into
168 * @param vibration C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_vibration_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vibration_t* vibration)
171{
172        return mavlink_msg_vibration_pack_chan(system_id, component_id, chan, msg, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2);
173}
174
175/**
176 * @brief Send a vibration message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param time_usec Timestamp (micros since boot or Unix epoch)
180 * @param vibration_x Vibration levels on X-axis
181 * @param vibration_y Vibration levels on Y-axis
182 * @param vibration_z Vibration levels on Z-axis
183 * @param clipping_0 first accelerometer clipping count
184 * @param clipping_1 second accelerometer clipping count
185 * @param clipping_2 third accelerometer clipping count
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_vibration_send(mavlink_channel_t chan, uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192        char buf[MAVLINK_MSG_ID_VIBRATION_LEN];
193        _mav_put_uint64_t(buf, 0, time_usec);
194        _mav_put_float(buf, 8, vibration_x);
195        _mav_put_float(buf, 12, vibration_y);
196        _mav_put_float(buf, 16, vibration_z);
197        _mav_put_uint32_t(buf, 20, clipping_0);
198        _mav_put_uint32_t(buf, 24, clipping_1);
199        _mav_put_uint32_t(buf, 28, clipping_2);
200
201    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, buf, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
202#else
203        mavlink_vibration_t packet;
204        packet.time_usec = time_usec;
205        packet.vibration_x = vibration_x;
206        packet.vibration_y = vibration_y;
207        packet.vibration_z = vibration_z;
208        packet.clipping_0 = clipping_0;
209        packet.clipping_1 = clipping_1;
210        packet.clipping_2 = clipping_2;
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)&packet, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
213#endif
214}
215
216/**
217 * @brief Send a vibration message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_vibration_send_struct(mavlink_channel_t chan, const mavlink_vibration_t* vibration)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224    mavlink_msg_vibration_send(chan, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2);
225#else
226    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)vibration, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_VIBRATION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
231/*
232  This varient of _send() can be used to save stack space by re-using
233  memory from the receive buffer.  The caller provides a
234  mavlink_message_t which is the size of a full mavlink message. This
235  is usually the receive buffer for the channel, and allows a reply to an
236  incoming message with minimum stack space usage.
237 */
238static inline void mavlink_msg_vibration_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241        char *buf = (char *)msgbuf;
242        _mav_put_uint64_t(buf, 0, time_usec);
243        _mav_put_float(buf, 8, vibration_x);
244        _mav_put_float(buf, 12, vibration_y);
245        _mav_put_float(buf, 16, vibration_z);
246        _mav_put_uint32_t(buf, 20, clipping_0);
247        _mav_put_uint32_t(buf, 24, clipping_1);
248        _mav_put_uint32_t(buf, 28, clipping_2);
249
250    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, buf, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
251#else
252        mavlink_vibration_t *packet = (mavlink_vibration_t *)msgbuf;
253        packet->time_usec = time_usec;
254        packet->vibration_x = vibration_x;
255        packet->vibration_y = vibration_y;
256        packet->vibration_z = vibration_z;
257        packet->clipping_0 = clipping_0;
258        packet->clipping_1 = clipping_1;
259        packet->clipping_2 = clipping_2;
260
261    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)packet, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE VIBRATION UNPACKING
269
270
271/**
272 * @brief Get field time_usec from vibration message
273 *
274 * @return Timestamp (micros since boot or Unix epoch)
275 */
276static inline uint64_t mavlink_msg_vibration_get_time_usec(const mavlink_message_t* msg)
277{
278        return _MAV_RETURN_uint64_t(msg,  0);
279}
280
281/**
282 * @brief Get field vibration_x from vibration message
283 *
284 * @return Vibration levels on X-axis
285 */
286static inline float mavlink_msg_vibration_get_vibration_x(const mavlink_message_t* msg)
287{
288        return _MAV_RETURN_float(msg,  8);
289}
290
291/**
292 * @brief Get field vibration_y from vibration message
293 *
294 * @return Vibration levels on Y-axis
295 */
296static inline float mavlink_msg_vibration_get_vibration_y(const mavlink_message_t* msg)
297{
298        return _MAV_RETURN_float(msg,  12);
299}
300
301/**
302 * @brief Get field vibration_z from vibration message
303 *
304 * @return Vibration levels on Z-axis
305 */
306static inline float mavlink_msg_vibration_get_vibration_z(const mavlink_message_t* msg)
307{
308        return _MAV_RETURN_float(msg,  16);
309}
310
311/**
312 * @brief Get field clipping_0 from vibration message
313 *
314 * @return first accelerometer clipping count
315 */
316static inline uint32_t mavlink_msg_vibration_get_clipping_0(const mavlink_message_t* msg)
317{
318        return _MAV_RETURN_uint32_t(msg,  20);
319}
320
321/**
322 * @brief Get field clipping_1 from vibration message
323 *
324 * @return second accelerometer clipping count
325 */
326static inline uint32_t mavlink_msg_vibration_get_clipping_1(const mavlink_message_t* msg)
327{
328        return _MAV_RETURN_uint32_t(msg,  24);
329}
330
331/**
332 * @brief Get field clipping_2 from vibration message
333 *
334 * @return third accelerometer clipping count
335 */
336static inline uint32_t mavlink_msg_vibration_get_clipping_2(const mavlink_message_t* msg)
337{
338        return _MAV_RETURN_uint32_t(msg,  28);
339}
340
341/**
342 * @brief Decode a vibration message into a struct
343 *
344 * @param msg The message to decode
345 * @param vibration C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_vibration_decode(const mavlink_message_t* msg, mavlink_vibration_t* vibration)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350        vibration->time_usec = mavlink_msg_vibration_get_time_usec(msg);
351        vibration->vibration_x = mavlink_msg_vibration_get_vibration_x(msg);
352        vibration->vibration_y = mavlink_msg_vibration_get_vibration_y(msg);
353        vibration->vibration_z = mavlink_msg_vibration_get_vibration_z(msg);
354        vibration->clipping_0 = mavlink_msg_vibration_get_clipping_0(msg);
355        vibration->clipping_1 = mavlink_msg_vibration_get_clipping_1(msg);
356        vibration->clipping_2 = mavlink_msg_vibration_get_clipping_2(msg);
357#else
358        uint8_t len = msg->len < MAVLINK_MSG_ID_VIBRATION_LEN? msg->len : MAVLINK_MSG_ID_VIBRATION_LEN;
359        memset(vibration, 0, MAVLINK_MSG_ID_VIBRATION_LEN);
360        memcpy(vibration, _MAV_PAYLOAD(msg), len);
361#endif
362}
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