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Bertrand Songis
2013-12-02 07:13:57 +01:00
parent f4df52a033
commit 942e658c8e
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radio/src/CoOS/kernel/CoOS.h
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/**
*******************************************************************************
* @file CoOS.h
* @version V1.1.4
* @date 2011.04.20
* @brief API header file of CooCox CoOS.
* @details This file including all API functions's declare of CooCox CoOS.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _CCRTOS_H
#define _CCRTOS_H
#include "OsConfig.h"
/*---------------------------- Type Define ----------------------------------*/
typedef signed char S8;
typedef unsigned char U8;
typedef short S16;
typedef unsigned short U16;
typedef int S32;
typedef unsigned int U32;
typedef long long S64;
typedef unsigned long long U64;
typedef unsigned char BIT;
typedef unsigned char BOOL;
typedef unsigned int OS_STK;
typedef U8 OS_TID;
typedef U8 OS_TCID;
typedef U8 OS_MutexID;
typedef U8 OS_EventID;
typedef U8 OS_FlagID;
typedef U8 OS_MMID;
typedef U8 StatusType;
typedef U16 OS_VER;
typedef void (*FUNCPtr)(void*);
typedef void (*vFUNCPtr)(void);
/*---------------------------- Constant Define -------------------------------*/
#ifndef Co_NULL
#define Co_NULL ((void *)0)
#endif
#ifndef Co_FALSE
#define Co_FALSE (0)
#endif
#ifndef Co_TRUE
#define Co_TRUE (1)
#endif
/*---------------------------- Error Codes ---------------------------------*/
#define E_CREATE_FAIL (StatusType)-1
#define E_OK (StatusType)0
#define E_INVALID_ID (StatusType)1
#define E_INVALID_PARAMETER (StatusType)2
#define E_CALL (StatusType)3
#define E_TASK_WAITING (StatusType)4
#define E_TIMEOUT (StatusType)5
#define E_SEM_FULL (StatusType)6
#define E_MBOX_FULL (StatusType)7
#define E_QUEUE_FULL (StatusType)8
#define E_SEM_EMPTY (StatusType)9
#define E_MBOX_EMPTY (StatusType)10
#define E_QUEUE_EMPTY (StatusType)11
#define E_FLAG_NOT_READY (StatusType)12
#define E_ALREADY_IN_WAITING (StatusType)13
#define E_TASK_NOT_WAITING (StatusType)14
#define E_TASK_WAIT_OTHER (StatusType)15
#define E_EXCEED_MAX_NUM (StatusType)16
#define E_NOT_IN_DELAY_LIST (StatusType)17
#define E_SEV_REQ_FULL (StatusType)18
#define E_NOT_FREE_ALL (StatusType)19
#define E_PROTECTED_TASK (StatusType)20
#define E_OS_IN_LOCK (StatusType)21
/*---------------------------- Wait Opreation type --------------------------*/
#define OPT_WAIT_ALL 0 /*!< Wait for all flags. */
#define OPT_WAIT_ANY 1 /*!< Wait for any one of flags. */
#define OPT_WAIT_ONE 2 /*!< Waot for one flag. */
/*---------------------------- Delete Opreation type ------------------------*/
#define OPT_DEL_NO_PEND 0 /*!< Delete when no task waitting for */
#define OPT_DEL_ANYWAY 1 /*!< Delete always. */
/*---------------------------- Timer Types ----------------------------------*/
#if CFG_TMR_EN >0
#define TMR_TYPE_ONE_SHOT 0 /*!< Timer counter type: One-shot */
#define TMR_TYPE_PERIODIC 1 /*!< Timer counter type: Periodic */
#endif
/*---------------------------- Event Control ---------------------------------*/
#if CFG_EVENT_EN >0
#define EVENT_SORT_TYPE_FIFO (U8)0x01 /*!< Insert a event by FIFO */
#define EVENT_SORT_TYPE_PRIO (U8)0x02 /*!< Insert a event by prio */
#endif
/*---------------------------- Function declare-------------------------------*/
/* Implement in file "core.c" */
extern void CoInitOS(void); /*!< Initialize OS */
extern void CoStartOS(void); /*!< Start multitask */
extern void CoEnterISR(void); /*!< Enter a ISR */
extern void CoExitISR(void); /*!< Exit a ISR */
extern void CoSchedLock(void);
extern void CoSchedUnlock(void);
extern OS_VER CoGetOSVersion(void); /*!< Get OS version value */
/* Implement in file "task.c" */
#define CoCreateTask(task,argv,prio,stk,stkSz) \
CreateTask(task,argv,(prio)|(((stkSz)<<8) &0x000FFF00 ),stk)
#define CoCreateTaskEx(task,argv,prio,stk,stkSz,timeSlice,isWaitting) \
CreateTask(task,argv,(prio)|(((stkSz)<<8)&0x000FFF00)|(((timeSlice)<<20)&0x7FF00000)|((isWaitting<<31)&0x80000000),stk)
extern void CoExitTask(void);
extern OS_TID CoGetCurTaskID(void);
extern StatusType CoDelTask(OS_TID taskID);
extern StatusType CoActivateTask(OS_TID taskID,void *argv);
extern StatusType CoAwakeTask(OS_TID taskID);
extern StatusType CoSuspendTask(OS_TID taskID);
extern StatusType CoSetPriority(OS_TID taskID,U8 priority);
extern OS_TID CreateTask(FUNCPtr task,void *argv,U32 parameter,OS_STK *stk);
/* Implement in file "time.c" */
extern U64 CoGetOSTime(void);
extern StatusType CoTickDelay(U32 ticks);
extern StatusType CoResetTaskDelayTick(OS_TID taskID,U32 ticks);
extern StatusType CoTimeDelay(U8 hour,U8 minute,U8 sec,U16 millsec);
/* Implement in file "timer.c" */
extern StatusType CoDelTmr(OS_TCID tmrID);
extern StatusType CoStopTmr(OS_TCID tmrID);
extern StatusType CoStartTmr(OS_TCID tmrID);
extern U32 CoGetCurTmrCnt(OS_TCID tmrID,StatusType* perr);
extern StatusType CoSetTmrCnt(OS_TCID tmrID,U32 tmrCnt,U32 tmrReload);
extern OS_TCID CoCreateTmr(U8 tmrType, U32 tmrCnt, U32 tmrReload, vFUNCPtr func);
/* Implement in file "kernelHeap.c"*/
extern void* CoKmalloc(U32 size);
extern void CoKfree(void* memBuf);
/* Implement in file "mm.c" */
extern void* CoGetMemoryBuffer(OS_MMID mmID);
extern StatusType CoDelMemoryPartition(OS_MMID mmID);
extern StatusType CoFreeMemoryBuffer(OS_MMID mmID,void* buf);
extern U32 CoGetFreeBlockNum(OS_MMID mmID,StatusType* perr);
extern OS_MMID CoCreateMemPartition(U8* memBuf,U32 blockSize,U32 blockNum);
/* Implement in file "mutex.c" */
extern OS_MutexID CoCreateMutex(void);
extern StatusType CoEnterMutexSection(OS_MutexID mutexID);
extern StatusType CoLeaveMutexSection(OS_MutexID mutexID);
/* Implement in file "sem.c" */
extern StatusType CoPostSem(OS_EventID id);
extern StatusType CoAcceptSem(OS_EventID id);
extern StatusType isr_PostSem(OS_EventID id);
extern StatusType CoDelSem(OS_EventID id,U8 opt);
extern StatusType CoPendSem(OS_EventID id,U32 timeout);
extern OS_EventID CoCreateSem(U16 initCnt,U16 maxCnt,U8 sortType);
/* Implement in file "mbox.c" */
extern OS_EventID CoCreateMbox(U8 sortType);
extern StatusType CoDelMbox(OS_EventID id,U8 opt);
extern StatusType CoPostMail(OS_EventID id,void* pmail);
extern StatusType isr_PostMail(OS_EventID id,void* pmail);
extern void* CoAcceptMail(OS_EventID id,StatusType* perr);
extern void* CoPendMail(OS_EventID id,U32 timeout,StatusType* perr);
/* Implement in file "queue.c" */
extern StatusType CoDelQueue(OS_EventID id,U8 opt);
extern StatusType CoPostQueueMail(OS_EventID id,void* pmail);
extern StatusType isr_PostQueueMail(OS_EventID id,void* pmail);
extern void* CoAcceptQueueMail(OS_EventID id,StatusType* perr);
extern OS_EventID CoCreateQueue(void **qStart, U16 size ,U8 sortType);
extern void* CoPendQueueMail(OS_EventID id,U32 timeout,StatusType* perr);
/* Implement in file "flag.c" */
extern StatusType CoSetFlag (OS_FlagID id);
extern StatusType CoClearFlag (OS_FlagID id);
extern StatusType isr_SetFlag (OS_FlagID id);
extern StatusType CoDelFlag (OS_FlagID id,U8 opt);
extern StatusType CoAcceptSingleFlag (OS_FlagID id);
extern StatusType CoWaitForSingleFlag (OS_FlagID id,U32 timeout);
extern OS_FlagID CoCreateFlag (BOOL bAutoReset,BOOL bInitialState);
extern U32 CoAcceptMultipleFlags (U32 flags,U8 waitType,StatusType *perr);
extern U32 CoWaitForMultipleFlags (U32 flags,U8 waitType,U32 timeout,StatusType *perr);
/* Implement in file "utility.c" */
extern StatusType CoTimeToTick(U8 hour,U8 minute,U8 sec,U16 millsec,U32* ticks);
extern void CoTickToTime(U32 ticks,U8* hour,U8* minute,U8* sec,U16* millsec);
/* Implement in file "hook.c" */
extern void CoIdleTask(void* pdata);
extern void CoStkOverflowHook(OS_TID taskID);
#endif
radio/src/CoOS/kernel/OsConfig.h
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/**
*******************************************************************************
* @file OsConfig.h
* @version V1.1.4
* @date 2011.04.20
* @brief This file use by user to configuration CooCox CoOS.
* @note Ensure you have knew every item before modify this file.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _CONFIG_H
#define _CONFIG_H
/*!<
Defines chip type,cortex-m3(1),cortex-m0(2)
*/
#define CFG_CHIP_TYPE (1)
/*!<
Defines the lowest priority that be assigned.
*/
#define CFG_LOWEST_PRIO (64)
/*!<
Max number of tasks that can be running.
*/
#define CFG_MAX_USER_TASKS (5)
/*!<
Idle task stack size(word).
*/
#define CFG_IDLE_STACK_SIZE (25)
/*!<
System frequency (Hz).
*/
#if defined(PCBTARANIS)
#define CFG_CPU_FREQ (60000000)
#else
#define CFG_CPU_FREQ (36000000) // TODO check if really correct for sky9x?
#endif
/*!<
systick frequency (Hz).
*/
#define CFG_SYSTICK_FREQ (500)
/*!<
max systerm api call num in ISR.
*/
#define CFG_MAX_SERVICE_REQUEST (5)
/*!<
Enable(1) or disable(0) order list schedule.
If disable(0),CoOS use Binary-Scheduling Algorithm.
*/
#if (CFG_MAX_USER_TASKS) <15
#define CFG_ORDER_LIST_SCHEDULE_EN (1)
#else
#define CFG_ORDER_LIST_SCHEDULE_EN (0)
#endif
/*!<
Enable(1) or disable(0) Round-Robin Task switching.
*/
#define CFG_ROBIN_EN (1)
/*!<
Default slice of task.
*/
#if CFG_ROBIN_EN > 0
#define CFG_TIME_SLICE (10)
#endif
/*----------------------- Schedule model Config -----------------------------*/
/*!<
Enable(1) or disable(0) all waiting function.
Include sem,mailbox,queue,flag,mutex,delay modules.
If CFG_TASK_WAITTING_EN=0,all these modules are disable.
*/
#define CFG_TASK_WAITTING_EN (1)
/*!<
Dynamic task scheduling(1) or Static Task Scheduling(0) model.
If in Static Task Scheduling model(0),cannot creat task and change task priority
after coocox os start running. In Dynamic Task Scheduling model(1), all these can.
When task terminated, if in Static Task Scheduling model(0),
CoOS do not recovered task resources, and you can activate it again.
But in Dynamic Task Scheduling model(1),task resources will be recovered.
If in Static Task Scheduling model(0),mutex module can not be used, as this model don't
support to change task priority while CoOS running.
*/
#define CFG_TASK_SCHEDULE_EN (1)
/*---------------------- Task Management Config -----------------------------*/
/*!<
Enable(1) or disable(0) CoSetPriority() API.
*/
#if CFG_TASK_SCHEDULE_EN >0
#define CFG_PRIORITY_SET_EN (1)
#endif
/*!<
Enable(1) or disable(0) CoAwakeTask() and CoSuspendTask() API.
*/
#define CFG_TASK_SUSPEND_EN (0)
/*---------------------- Debug Management Config ----------------------------*/
/*!<
Enable(1) or disable(0) parameter checkout .
*/
#define CFG_PAR_CHECKOUT_EN (0)
/*!<
Enable(1) or disable(0) stack overflow checkout .
*/
#define CFG_STK_CHECKOUT_EN (0)
/*---------------------- Memory Management Config ----------------------------*/
/*!<
Enable(1) or disable(0) memory management.
*/
#define CFG_MM_EN (0)
/*!<
Max number of memory.(must be less than 32).
*/
#if CFG_MM_EN >0
#define CFG_MAX_MM (2)
#endif
/*-------------------- Kernel heap Management Config -------------------------*/
/*!<
Enable(1) or disable(0) kernel heap management.
*/
#define CFG_KHEAP_EN (0)
/*!<
Kernel heap size(word).
*/
#if CFG_KHEAP_EN >0
#define KHEAP_SIZE (50)
#endif
/*---------------------- Time Management Config -----------------------------*/
/*!<
Enable(1) or disable(0) TimeDelay() API.
*/
#if CFG_TASK_WAITTING_EN >0
#define CFG_TIME_DELAY_EN (0)
#endif
/*---------------------- Timer Management Config ----------------------------*/
/*!<
Enable(1) or disable(0) timer management.
*/
#define CFG_TMR_EN (1)
/*!<
Specify max number timer.(must be less than 32)
*/
#if CFG_TMR_EN >0
#define CFG_MAX_TMR (2)
#endif
/*---------------------- Event Management Config ----------------------------*/
/*!<
Enable(1) or disable(0) events management,
events including semaphore,mailbox,queue.
*/
#if CFG_TASK_WAITTING_EN > 0
#define CFG_EVENT_EN (1)
#endif
#if CFG_EVENT_EN > 0
/*!<
Event sort type.(1)FIFO (2)PRI (3)FIFO+PRI
*/
#define CFG_EVENT_SORT (3)
/*!<
Max number of event.(must be less than 255)
Event = semaphore + mailbox + queue;
*/
#define CFG_MAX_EVENT (10)
/*!<
Enable(1) or disable(0) semaphore management.
*/
#define CFG_SEM_EN (0)
/*!<
Enable(1) or disable(0) mailbox management.
*/
#define CFG_MAILBOX_EN (0)
/*!<
Enable(1) or disable(0) queue management.
*/
#define CFG_QUEUE_EN (0)
/*!<
Max number of queue.(less than CFG_MAX_EVENT).
*/
#if CFG_QUEUE_EN >0
#define CFG_MAX_QUEUE (2)
#endif // CFG_QUEUE_EN
#endif // CFG_EVENT_EN
/*----------------------- Flag Management Config ----------------------------*/
/*!<
Enable(1) or disable(0) flag management.
Max number of flag is 32.
*/
#if CFG_TASK_WAITTING_EN > 0
#define CFG_FLAG_EN (1)
#endif
/*---------------------- Mutex Management Config ----------------------------*/
/*!<
Enable(1) or disable(0) mutex management.
*/
#if CFG_TASK_WAITTING_EN > 0
#if CFG_TASK_SCHEDULE_EN > 0
#define CFG_MUTEX_EN (1)
#endif
#endif
/*!<
Max number of mutex.(must be less than 255).
*/
#if CFG_MUTEX_EN >0
#define CFG_MAX_MUTEX (10)
#endif
/*---------------------- Utility Management Config --------------------------*/
/*!<
Enable(1) or disable(0) utility management.
*/
#define CFG_UTILITY_EN (0)
#if CFG_UTILITY_EN >0
/*!<
Enable(1) or disable(0) TickToTime() utility
*/
#define CFG_TICK_TO_TIME_EN (1)
/*!<
Enable(1) or disable(0) TimeToTick() utility
*/
#define CFG_TIME_TO_TICK_EN (1)
#endif
#endif // _CONFIG_H
radio/src/CoOS/kernel/OsCore.h
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/**
*******************************************************************************
* @file OsCore.h
* @version V1.1.4
* @date 2011.04.20
* @brief Header file related to kernel
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _CORE_H
#define _CORE_H
#include <CoOS.h>
#define OsSchedLock() OSSchedLock++; /*!< Lock schedule */
extern void OsSchedUnlock(void);
#endif
radio/src/CoOS/kernel/OsError.h
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/**
*******************************************************************************
* @file OsError.h
* @version V1.1.4
* @date 2011.04.20
* @brief rror dispose header file
* @details This file use to dispose error which from error configure for OS.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _ERROR_H
#define _ERROR_H
#if (CFG_SYSTICK_FREQ > 1000) ||(CFG_SYSTICK_FREQ < 1)
#error " OsConfig.h System Tick time must between 1ms and 1s!"
#endif
#if CFG_MAX_USER_TASKS > 253
#error " OsConfig.h, CFG_MAX_USER_TASKS must be <= 253! "
#endif
#if CFG_LOWEST_PRIO > 254
#error " OsConfig.h, CFG_LOWEST_PRIO must be <= 254! "
#endif
#if CFG_IDLE_STACK_SIZE <25
#error " OsConfig.h, CFG_IDLE_STACK_SIZE must be >= 25! "
#endif
#if CFG_ROBIN_EN > 0
#if CFG_TIME_SLICE > 4095
#error " OsConfig.h, CFG_TIME_SLICE must be <= 4095! "
#endif
#endif
#if CFG_TMR_EN > 0
#if CFG_MAX_TMR > 32
#error " OsConfig.h, CFG_MAX_TMR must be <= 32! "
#endif
#endif
#if CFG_MM_EN > 0
#if CFG_MAX_MM > 32
#error " config.h, CFG_MAX_MM must be <= 32! "
#endif
#endif
#if CFG_KHEAP_EN > 0
#if KHEAP_SIZE < 0x20
#error " config.h, CFG_MAX_MM must be >= 0x20! "
#endif
#endif
#if CFG_MUTEX_EN > 0
#if CFG_MAX_MUTEX > 254
#error " config.h, CFG_MAX_MUTEX must be <= 254! "
#endif
#endif
#if CFG_EVENT_EN > 0
#if (CFG_MAX_EVENT > 254 || CFG_MAX_EVENT <= 0)
#error " config.h, CFG_MAX_EVENT must be <= 254 && > 0! "
#endif
#if CFG_QUEUE_EN > 0
#if CFG_MAX_QUEUE > CFG_MAX_EVENT
#error " config.h, CFG_MAX_QUEUE must be <= CFG_MAX_EVENT! "
#endif
#endif
#endif /* CFG_EVENT_EN */
#endif /* _ERROR_H */
radio/src/CoOS/kernel/OsEvent.h
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/**
*******************************************************************************
* @file OsEvent.h
* @version V1.1.4
* @date 2011.04.20
* @brief Event management header file
* @details This file including some defines and declares related to event
* (semaphore,mailbox,queque) management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _EVENT_H
#define _EVENT_H
#define EVENT_TYPE_SEM (U8)0x01 /*!< Event type:Semaphore. */
#define EVENT_TYPE_MBOX (U8)0x02 /*!< Event type:Mailbox. */
#define EVENT_TYPE_QUEUE (U8)0x03 /*!< Event type:Queue. */
#define EVENT_TYPE_INVALID (U8)0x04 /*!< Invalid event type. */
/**
* @struct EventCtrBlk event.h
* @brief Event control block
* @details This struct is use to manage event,
* e.g. semaphore,mailbox,queue.
*/
typedef struct EventCtrBlk
{
void* eventPtr; /*!< Point to mailbox or queue struct */
U8 id; /*!< ECB id */
U8 eventType:4; /*!< Type of event */
U8 eventSortType:4; /*!< 0:FIFO 1: Preemptive by prio */
U16 eventCounter; /*!< Counter of semaphore. */
U16 initialEventCounter; /*!< Initial counter of semaphore. */
P_OSTCB eventTCBList; /*!< Task waitting list. */
}ECB,*P_ECB;
/*---------------------------- Variable declare ------------------------------*/
extern ECB EventTbl[CFG_MAX_EVENT]; /*!< Table use to save TCB. */
/*---------------------------- Function declare ------------------------------*/
/*!< Create a event */
extern P_ECB CreatEvent(U8 eventType,U8 eventSortType,void* eventPtr);
/*!< Remove a task from wait list */
extern void EventTaskToWait(P_ECB pecb,P_OSTCB ptcb);
extern StatusType DeleteEvent(P_ECB pecb,U8 opt); /*!< Delete a event. */
extern void EventTaskToRdy(P_ECB pecb); /*!< Insert a task to ready list*/
extern void CreateEventList(void); /*!< Create a event list. */
extern void RemoveEventWaittingList(P_OSTCB ptcb);
#endif
radio/src/CoOS/kernel/OsFlag.h
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/**
*******************************************************************************
* @file OsFlag.h
* @version V1.1.4
* @date 2011.04.20
* @brief Evnet flag management header file
* @details This file including some defines and declares about flag management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _FLAG_H
#define _FLAG_H
/**
* @struct FlagNode flag.h
* @brief Flag node struct
* @details
*/
typedef struct FlagNode
{
struct FlagNode* nextNode; /*!< A pointer to next flag node */
struct FlagNode* prevNode; /*!< A pointer to prev flag node */
U32 waitFlags; /*!< Flag value */
P_OSTCB waitTask; /*!< A pointer to task waitting flag */
U8 waitType; /*!< Wait type */
}FLAG_NODE,*P_FLAG_NODE;
/**
* @struct Flag flag.h
* @brief Flag control block
* @details This struct use to mange event flag.
*/
typedef struct Flag
{
U32 flagRdy; /*!< Ready flag */
U32 resetOpt; /*!< Reset option */
U32 flagActive; /*!< Active flag */
P_FLAG_NODE headNode; /*!< Head node */
P_FLAG_NODE tailNode; /*!< Tail node */
}FCB,*P_FCB;
/*---------------------------- Variable declare ------------------------------*/
extern FCB FlagCrl;
/*---------------------------- Function declare ------------------------------*/
extern void RemoveLinkNode(P_FLAG_NODE pnode);
#endif
radio/src/CoOS/kernel/OsKernelHeap.h
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/**
*******************************************************************************
* @file OsKernelHeap.h
* @version V1.1.4
* @date 2011.04.20
* @brief Header file related to memory management
* @details This file including some defines and function declare related to
* kernel heap management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _KERNELHEAP_H
#define _KERNELHEAP_H
typedef struct KennelHeap
{
U32 startAddr;
U32 endAddr;
}KHeap,*P_KHeap;
typedef struct UsedMemBlk
{
void* nextMB;
void* preMB;
}UMB,*P_UMB;
typedef struct FreeMemBlk
{
struct FreeMemBlk* nextFMB;
struct UsedMemBlk* nextUMB;
struct UsedMemBlk* preUMB;
}FMB,*P_FMB;
/*---------------------------- Function Declare ------------------------------*/
extern void CoCreateKheap(void);
#endif /* _KERNELHEAP_H */
radio/src/CoOS/kernel/OsMM.h
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/**
*******************************************************************************
* @file OsMm.h
* @version V1.1.4
* @date 2011.04.20
* @brief Header file related to memory management
* @details This file including some defines and function declare related to
* memory management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _MM_H
#define _MM_H
typedef struct Memory
{
U8* memAddr;
U8* freeBlock;
U32 blockSize;
U32 blockNum;
}MM,*P_MM;
typedef struct MemoryBlock
{
struct MemoryBlock* nextBlock;
}MemBlk,*P_MemBlk;
extern U32 MemoryIDVessel;
#endif /* _MM_H */
radio/src/CoOS/kernel/OsMutex.h
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/**
*******************************************************************************
* @file OsMutex.h
* @version V1.1.4
* @date 2011.04.20
* @brief Mutex management header file
* @details This file including some defines and declare related to mutex
* management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _MUTEX_H
#define _MUTEX_H
#include <coocox.h>
#if CFG_MUTEX_EN > 0
/*---------------------------- Resource status -------------------------------*/
#define MUTEX_FREE 0 /*!< Mutex is free */
#define MUTEX_OCCUPY 1 /*!< Mutex is occupy */
#define WAITING_MUTEX 0x80
/**
* @struct Mutex mutex.h
* @brief Mutex control block
* @details This struct is use to mutex management.
*/
typedef struct Mutex
{
U8 originalPrio; /*!< Mutex priority. */
U8 mutexFlag; /*!< Mutex flag. */
OS_TID taskID; /*!< Task ID. */
OS_TID hipriTaskID; /*!< Mutex ID. */
P_OSTCB waittingList; /*!< waitting the Mutex. */
}MUTEX,*P_MUTEX;
/*---------------------------- Variable declare ------------------------------*/
/*!< Table use to save mutex control block. */
extern MUTEX MutexTbl[CFG_MAX_MUTEX];
extern OS_MutexID MutexFreeID; /*!< A pointer to next vliad resource ID. */
/*---------------------------- Function declare ------------------------------*/
extern void RemoveMutexList(P_OSTCB ptcb);
#endif /* CFG_MUTEX_EN */
#endif /* _MUTEX_H */
radio/src/CoOS/kernel/OsQueue.h
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/**
*******************************************************************************
* @file OsQueue.h
* @version V1.1.4
* @date 2011.04.20
* @brief Queue management header file
* @details This file including some defines and declares about queue management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _QUEUE_H
#define _QUEUE_H
/**
* @struct Queue queue.h
* @brief Queue struct
* @details This struct use to manage queue.
*
*/
typedef struct Queue
{
void **qStart; /*!< */
U8 id; /*!< */
U16 head; /*!< The header of queue */
U16 tail; /*!< The end of queue */
U16 qMaxSize; /*!< The max size of queue */
U16 qSize; /*!< Current size of queue */
}QCB,*P_QCB;
#endif
radio/src/CoOS/kernel/OsServiceReq.h
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/**
*******************************************************************************
* @file OsServiceReq.h
* @version V1.1.4
* @date 2011.04.20
* @brief Header file related to service request
* @details This file including some defines and function declare related to
* service request.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _SERVICEREQ_H
#define _SERVICEREQ_H
#if CFG_MAX_SERVICE_REQUEST > 0
#define SEM_REQ (U8)0x1
#define MBOX_REQ (U8)0x2
#define FLAG_REQ (U8)0x3
#define QUEUE_REQ (U8)0x4
typedef struct ServiceReqCell
{
U8 type;
U8 id;
void* arg;
}SQC,*P_SQC;
typedef struct ServiceReqQueue
{
U8 cnt;
U8 head;
SQC cell[CFG_MAX_SERVICE_REQUEST];
}SRQ,*P_SRQ;
extern SRQ ServiceReq;
extern BOOL InsertInSRQ(U8 type,U8 id,void* arg);
#endif
extern void RespondSRQ(void);
extern BOOL TimeReq;
extern BOOL TimerReq;
extern BOOL IsrReq;
#endif
radio/src/CoOS/kernel/OsTask.h
+112
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/**
*******************************************************************************
* @file OsTask.h
* @version V1.1.4
* @date 2011.04.20
* @brief Header file related to task.
* @details This file including some defines and function declare related to task.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _TASK_H
#define _TASK_H
#define SYS_TASK_NUM (1) /*!< System task number. */
/*---------------------------- Task Status -----------------------------------*/
#define TASK_READY 0 /*!< Ready status of task. */
#define TASK_RUNNING 1 /*!< Running status of task. */
#define TASK_WAITING 2 /*!< Waitting status of task. */
#define TASK_DORMANT 3 /*!< Dormant status of task. */
#define INVALID_ID (U8)0xff
#define INVALID_VALUE (U32)0xffffffff
#define MAGIC_WORD (U32)0x5a5aa5a5
/**
* @struct TCB task.h
* @brief Task control blcok.
* @details This struct use to manage task.
*/
typedef struct TCB
{
OS_STK *stkPtr; /*!< The current point of task. */
U8 prio; /*!< Task priority. */
U8 state; /*!< TaSk status. */
OS_TID taskID; /*!< Task ID. */
#if CFG_MUTEX_EN > 0
OS_MutexID mutexID; /*!< Mutex ID. */
#endif
#if CFG_EVENT_EN > 0
OS_EventID eventID; /*!< Event ID. */
#endif
#if CFG_ROBIN_EN >0
U16 timeSlice; /*!< Task time slice */
#endif
#if CFG_STK_CHECKOUT_EN >0
OS_STK *stack; /*!< The top point of task. */
#endif
#if CFG_EVENT_EN > 0
void* pmail; /*!< Mail to task. */
struct TCB *waitNext; /*!< Point to next TCB in the Event waitting list.*/
struct TCB *waitPrev; /*!< Point to prev TCB in the Event waitting list.*/
#endif
#if CFG_TASK_SCHEDULE_EN == 0
FUNCPtr taskFuc;
OS_STK *taskStk;
#endif
#if CFG_FLAG_EN > 0
void* pnode; /*!< Pointer to node of event flag. */
#endif
#if CFG_TASK_WAITTING_EN >0
U32 delayTick; /*!< The number of ticks which delay. */
#endif
struct TCB *TCBnext; /*!< The pointer to next TCB. */
struct TCB *TCBprev; /*!< The pointer to prev TCB. */
}OSTCB,*P_OSTCB;
/*---------------------------- Variable declare ------------------------------*/
// save tcb ptr that created
extern P_OSTCB FreeTCB; /*!< A pointer to free TCB. */
extern OSTCB TCBTbl[CFG_MAX_USER_TASKS+SYS_TASK_NUM];
extern P_OSTCB TCBRdy; /*!< A pointer to TCB that is ready status */
extern P_OSTCB TCBNext; /*!< A pointer to TCB next be scheduled. */
extern P_OSTCB TCBRunning; /*!< A pointer to TCB that is running. */
extern U64 OSCheckTime;
extern volatile U8 OSIntNesting; /*!< Use to indicate interrupt nesting level.*/
extern volatile U8 OSSchedLock; /*!< Schedule is lock(LOCK) or unlock(UN_LOCK).*/
extern volatile BOOL TaskSchedReq;
extern OS_STK idle_stk[CFG_IDLE_STACK_SIZE];
void Schedule(void); /*!< Schedule function */
void IdleTask(void* pdata); /*!< IDLE task code */
void InsertToTCBRdyList (P_OSTCB tcbInser);
void RemoveFromTCBRdyList(P_OSTCB ptcb);
void CreateTCBList(void);
#if CFG_ORDER_LIST_SCHEDULE_EN ==0
void ActiveTaskPri(U8 pri);
void DeleteTaskPri(U8 pri);
#endif
#endif
radio/src/CoOS/kernel/OsTime.h
+28
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/**
*******************************************************************************
* @file OsTime.c
* @version V1.1.4
* @date 2011.04.20
* @brief Header file related to time management
* @details Thie file including some data declare related to time managment.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _TIME_H
#define _TIME_H
/*---------------------------- Variable declare ------------------------------*/
extern P_OSTCB DlyList; /*!< A pointer to ther delay list. */
/*---------------------------- Function declare ------------------------------*/
extern void TimeDispose(void); /*!< Time dispose function. */
extern void isr_TimeDispose(void);
extern void RemoveDelayList(P_OSTCB ptcb);
extern void InsertDelayList(P_OSTCB ptcb,U32 ticks);
#endif
radio/src/CoOS/kernel/OsTimer.h
+49
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/**
*******************************************************************************
* @file OsTimer.h
* @version V1.1.4
* @date 2011.04.20
* @brief Timer manage header file
* @details This file including some declares and defines related to timer
* management.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _TIMER_H
#define _TIMER_H
#define TMR_STATE_RUNNING 0 /*!< Timer State: Running */
#define TMR_STATE_STOPPED 1 /*!< Timer State: Stopped */
/**
* @struct tmrCtrl timer.h
* @brief Timer control block
* @details This struct is use to manage user timer.
*
*/
typedef struct tmrCtrl /* Timer Control Block Define. */
{
OS_TCID tmrID; /*!< Timer ID. */
U8 tmrType; /*!< Timer Type. */
U8 tmrState; /*!< Timer State. */
U32 tmrCnt; /*!< Timer Counter. */
U32 tmrReload; /*!< Timer Reload Counter Value. */
vFUNCPtr tmrCallBack; /*!< Call-back Function When Timer overrun. */
struct tmrCtrl* tmrNext; /*!< Point to Next Timer Control Block. */
struct tmrCtrl* tmrPrev; /*!< Point to Previous Timer Control Block*/
}TmrCtrl,*P_TmrCtrl;
/*---------------------------- Variable declare ------------------------------*/
extern P_TmrCtrl TmrList; /*!< A pointer to the timer list. */
extern U32 TmrIDVessel;
/*---------------------------- Function declare ------------------------------*/
extern void TmrDispose(void); /*!< Timer counter function. */
extern void isr_TmrDispose(void);
#endif
radio/src/CoOS/kernel/coocox.h
+60
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/**
*******************************************************************************
* @file coocox.h
* @version V1.1.4
* @date 2011.04.20
* @brief Gather for all header file of CooCox CoOS.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _COOCOX_H
#define _COOCOX_H
#define OS_VERSION (U16)0x0113 /*!< OS version.(format: Vx.xx),
e.g. value 0x0113 is version V1.13*/
/*---------------------------- Include ---------------------------------------*/
#include "CoOS.h"
#include "OsArch.h"
#include "OsCore.h"
#include "OsTask.h"
#include "OsServiceReq.h"
#include "OsError.h"
#include "OsTime.h"
#if CFG_TMR_EN > 0
#include "OsTimer.h"
#endif
#if CFG_KHEAP_EN > 0
#include "OsKernelHeap.h"
#endif
#if CFG_MM_EN >0
#include "OsMM.h"
#endif
#if CFG_EVENT_EN > 0
#include "OsEvent.h"
#endif
#if CFG_MUTEX_EN > 0
#include "OsMutex.h"
#endif
#if CFG_QUEUE_EN > 0
#include "OsQueue.h"
#endif
#if CFG_FLAG_EN > 0
#include "OsFlag.h"
#endif
#endif /* _COOCOX_H */
radio/src/CoOS/kernel/core.c
+238
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/**
*******************************************************************************
* @file core.c
* @version V1.1.4
* @date 2011.04.20
* @brief Core implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
/*---------------------------- Variable Define -------------------------------*/
volatile U8 OSIntNesting = 0; /*!< Use to indicate interrupt nesting level*/
volatile U8 OSSchedLock = 0; /*!< Task Switch lock. */
volatile BOOL TaskSchedReq = Co_FALSE;
/**
*******************************************************************************
* @brief Enter a ISR.
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to notify OS when enter to an ISR.
*
* @note When you call API in ISR,you must call CoEnterISR() before your
* interrupt handler code,and call CoExitISR() after your handler
* code and before exiting from ISR.
*******************************************************************************
*/
void CoEnterISR(void)
{
Inc8(&OSIntNesting); /* OSIntNesting increment */
}
/**
*******************************************************************************
* @brief Exit a ISR.
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called when exit from a ISR.
*
* @note
*******************************************************************************
*/
void CoExitISR(void)
{
Dec8(&OSIntNesting); /* OSIntNesting decrease */
if( OSIntNesting == 0) /* Is OSIntNesting == 0? */
{
if(TaskSchedReq == Co_TRUE)
{
OSSchedLock++;
Schedule(); /* Call task schedule */
OSSchedLock--;
}
}
}
/**
*******************************************************************************
* @brief Unlock schedule
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to unlock schedule(i.e.enable schedule again)
*
* @note
*******************************************************************************
*/
void OsSchedUnlock(void)
{
if(OSSchedLock == 1) /* Is OSSchedLock == 0? */
{
#if CFG_TASK_WAITTING_EN > 0
if(IsrReq == Co_TRUE)
{
RespondSRQ(); /* Respond service request */
}
#endif
/* Judge task state change or higher PRI task coming in */
if(TaskSchedReq == Co_TRUE)
{
Schedule(); /* Call task schedule */
}
OSSchedLock = 0;
}
else
{
OSSchedLock--;
}
}
/**
*******************************************************************************
* @brief Lock schedule
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called in application code to lock schedule.
*
* @note
*******************************************************************************
*/
void CoSchedLock(void)
{
OsSchedLock(); /* Lock schedule */
}
/**
*******************************************************************************
* @brief Unlock schedule
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called in APP to unlock schedule.
*
* @note
*******************************************************************************
*/
void CoSchedUnlock(void)
{
OsSchedUnlock(); /* Unlock schedule */
}
/**
*******************************************************************************
* @brief Initialize OS
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to initialize OS.
*
* @note You must call this function first,before any other OS API function
*
* @code There is a example for useage of this function,as follows:
* e.g.
* ... // Your target initial code.
*
* OsInit(); // Initial OS.
* CreateTask(...); // Create tasks.
* ...
* OsStart(); // Start multitask.
* @endcode
*******************************************************************************
*/
void CoInitOS(void)
{
InitSysTick(); /* Initialize system tick. */
InitInt(); /* Initialize PendSV,SVC,SysTick interrupt */
CreateTCBList(); /* Create TCB list. */
#if CFG_EVENT_EN > 0
CreateEventList(); /* Create event control list. */
#endif
#if CFG_KHEAP_EN > 0
CoCreateKheap(); /* Create kernel heap within user define */
#endif
OsSchedLock(); /* Lock Schedule */
/* Create first task -- IDLE task. */
CoCreateTask( CoIdleTask,
Co_NULL,
CFG_LOWEST_PRIO,
&idle_stk[CFG_IDLE_STACK_SIZE-1],
CFG_IDLE_STACK_SIZE
);
/* Set PSP for CoIdleTask coming in */
SetEnvironment(&idle_stk[CFG_IDLE_STACK_SIZE-1]);
}
/**
*******************************************************************************
* @brief Start multitask
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to start multitask.After it is called,
* OS start schedule task by priority or/and time slice.
* @note This function must be called to start OS when you use CoOS,and must
* call after CoOsInit().
*******************************************************************************
*/
void CoStartOS(void)
{
TCBRunning = &TCBTbl[0]; /* Get running task */
TCBNext = TCBRunning; /* Set next scheduled task as running task */
TCBRunning->state = TASK_RUNNING; /* Set running task status to RUNNING */
RemoveFromTCBRdyList(TCBRunning); /* Remove running task from READY list */
OsSchedUnlock(); /* Enable Schedule,call task schedule */
}
/**
*******************************************************************************
* @brief Get OS version
* @param[in] None
* @param[out] None
* @retval The value is version of OS mutipled by 100.
*
* @par Description
* @details This function is used to return the version number of CooCox OS.
* the return value corresponds to CooCox's version number multiplied
* by 100. In other words, version 1.02 would be returned as 102.
*******************************************************************************
*/
OS_VER CoGetOSVersion(void)
{
return OS_VERSION; /* Get CooCox CoOS version */
}
radio/src/CoOS/kernel/event.c
+410
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/**
*******************************************************************************
* @file event.c
* @version V1.1.4
* @date 2011.04.20
* @brief event management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
/*---------------------------- Variable Define -------------------------------*/
#if CFG_EVENT_EN > 0
ECB EventTbl[CFG_MAX_EVENT]= {{0}};/*!< Table which save event control block.*/
P_ECB FreeEventList = Co_NULL; /*!< Pointer to free event control block. */
/**
*******************************************************************************
* @brief Create a empty list of event control block
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called by OSInit() API to create a ECB list,supply
* a pointer to next event control block that not used.
*******************************************************************************
*/
void CreateEventList(void)
{
U8 i;
P_ECB pecb1;
#if CFG_MAX_EVENT > 1
P_ECB pecb2;
#endif
i=0;
pecb1 = &EventTbl[0]; /* Get first item */
#if CFG_MAX_EVENT == 1 /* Build event list for only one item */
pecb1->eventPtr = Co_NULL;
pecb1->id = i; /* Assign ID. */
pecb1->eventType = EVENT_TYPE_INVALID; /* Sign that not to use. */
#endif
#if CFG_MAX_EVENT > 1 /* Build event list for more than one item */
pecb2 = &EventTbl[1];
for(;i< (CFG_MAX_EVENT-1);i++ )
{
pecb1->eventPtr = (void*)pecb2; /* Set link for list */
pecb1->id = i; /* Assign ID. */
pecb1->eventType = EVENT_TYPE_INVALID;/* Sign that not to use. */
pecb1++; /* Get next item */
pecb2++;
}
pecb1->eventType = EVENT_TYPE_INVALID; /* Sign that not to use. */
pecb1->eventPtr = Co_NULL; /* Set link for last item */
pecb1->id = i;
#endif
FreeEventList = &EventTbl[0]; /* Set free event item */
}
/**
*******************************************************************************
* @brief Release a ECB
* @param[in] pecb A pointer to event control block which be released.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to release a event control block when a
* event be deleted.
*******************************************************************************
*/
static void ReleaseECB(P_ECB pecb)
{
pecb->eventType = EVENT_TYPE_INVALID; /* Sign that not to use. */
OsSchedLock(); /* Lock schedule */
pecb->eventPtr = FreeEventList; /* Release ECB that event hold */
FreeEventList = pecb; /* Reset free event item */
OsSchedUnlock(); /* Unlock schedule */
}
/**
*******************************************************************************
* @brief Create a event
* @param[in] eventType The type of event which being created.
* @param[in] eventSortType Event sort type.
* @param[in] eventCounter Event counter,ONLY for EVENT_TYPE_SEM.
* @param[in] eventPtr Event struct pointer,ONLY for Queue.Co_NULL for other
* event type.
* @param[out] None
* @retval Co_NULL Invalid pointer,create event fail.
* @retval others Pointer to event control block which had assigned right now.
*
* @par Description
* @details This function is called by CreateSem(),...
* to get a event control block and initial the event content.
*
* @note This is a internal function of CooCox CoOS,User can't call.
*******************************************************************************
*/
P_ECB CreatEvent(U8 eventType,U8 eventSortType,void* eventPtr)
{
P_ECB pecb;
OsSchedLock(); /* Lock schedule */
if(FreeEventList == Co_NULL) /* Is there no free evnet item */
{
OsSchedUnlock(); /* Yes,unlock schedule */
return Co_NULL; /* Return error */
}
pecb = FreeEventList;/* Assign the free event item to this event */
FreeEventList = FreeEventList->eventPtr; /* Reset free event item */
OsSchedUnlock(); /* Unlock schedul */
pecb->eventType = eventType; /* Initialize event item as user set */
pecb->eventSortType = eventSortType;
pecb->eventPtr = eventPtr;
pecb->eventTCBList = Co_NULL;
return pecb; /* Return event item pointer */
}
/**
*******************************************************************************
* @brief Delete a event
* @param[in] pecb Pointer to event control block which will be deleted.
* @param[in] opt Delete option.
* @arg == OPT_DEL_ANYWAY Delete event always
* @arg == OPT_DEL_NO_PEND Delete event only when no task pending on.
* @param[out] None
* @retval E_INVALID_PARAMETER Parameter passed is invalid,deleted fail.
* @retval E_TASK_WAITTING These are one more tasks waitting event.
* @retval E_OK Delete event control block successful.
*
* @par Description
* @details This function is called to delete a event from the event wait list
* use specify option.
*
* @note This is a internal function of Coocox CoOS,user can't call.
*******************************************************************************
*/
StatusType DeleteEvent(P_ECB pecb,U8 opt)
{
P_OSTCB ptcb;
if(opt == OPT_DEL_NO_PEND) /* Do delete event when no task pend? */
{
if(pecb->eventTCBList != Co_NULL) /* Yes,is there task pend this event? */
{
return E_TASK_WAITING; /* Yes,error return */
}
else
{
ReleaseECB(pecb); /* No,release resource that event hold*/
}
}
else if(opt == OPT_DEL_ANYWAY) /* Do delete event anyway? */
{
OsSchedLock(); /* Lock schedule */
while(pecb->eventTCBList != Co_NULL) /* Is there task pend this event? */
{ /* Yes,remove it */
ptcb = pecb->eventTCBList;/* Get first task in event waiting list */
if(ptcb->delayTick != INVALID_VALUE) /* Is task in delay list? */
{
RemoveDelayList(ptcb); /* Yes,remove task from delay list */
}
/* Set next item as event waiting list head */
pecb->eventTCBList = ptcb->waitNext;
ptcb->waitNext = Co_NULL; /* Clear link for event waiting list */
ptcb->eventID = INVALID_ID; /* Sign that not to use. */
InsertToTCBRdyList(ptcb); /* Insert task into ready list */
}
OsSchedUnlock(); /* Unlock schedule */
ReleaseECB(pecb); /* Release resource that event hold */
}
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Insert a task to event wait list
* @param[in] pecb Pointer to event control block corresponding to the event.
* @param[in] ptcb Pointer to task that will be insert to event wait list.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to insert a task by fllowing manner:
* opt == EVENT_SORT_TYPE_FIFO By FIFO.
* opt == EVENT_SORT_TYPE_PRIO By priority order,hghest priority
* as head,lowest priority as end.
* (Highest-->...-->Lowest-->Co_NULL)
*******************************************************************************
*/
void EventTaskToWait(P_ECB pecb,P_OSTCB ptcb)
{
P_OSTCB ptcb1;
#if (CFG_EVENT_SORT == 2) || (CFG_EVENT_SORT == 3)
P_OSTCB ptcb2;
#endif
OsSchedLock(); /* Lock schedule */
ptcb1 = pecb->eventTCBList; /* Get first task in event waiting list */
ptcb->eventID = pecb->id; /* Set event ID for task */
#if CFG_EVENT_SORT == 3 /* Does event waiting list sort as FIFO? */
if(pecb->eventSortType == EVENT_SORT_TYPE_FIFO)
#endif
#if (CFG_EVENT_SORT == 1) || (CFG_EVENT_SORT == 3)
{
if(ptcb1 == Co_NULL) /* Is no item in event waiting list?*/
{
pecb->eventTCBList = ptcb; /* Yes,set task as first item */
}
else
{
while(ptcb1->waitNext != Co_NULL)/* No,insert task in last */
{
ptcb1 = ptcb1->waitNext;
}
ptcb1->waitNext = ptcb; /* Set link for list */
ptcb->waitPrev = ptcb1;
}
}
#endif
#if CFG_EVENT_SORT ==3 /* Does event waiting list sort as preemptive priority?*/
else if(pecb->eventSortType == EVENT_SORT_TYPE_PRIO)
#endif
#if (CFG_EVENT_SORT == 2) || (CFG_EVENT_SORT == 3)
{
if(ptcb1 == Co_NULL) /* Is no item in event waiting list? */
{
pecb->eventTCBList = ptcb; /* Yes,set task as first item */
}
/* Is PRI of task higher than list first item? */
else if(ptcb1->prio > ptcb->prio)
{
pecb->eventTCBList = ptcb; /* Reset task as first item */
ptcb->waitNext = ptcb1; /* Set link for list */
ptcb1->waitPrev = ptcb;
}
else /* No,find correct place to insert */
{
ptcb2 = ptcb1->waitNext;
while(ptcb2 != Co_NULL) /* Is last item? */
{
if(ptcb2->prio > ptcb->prio) /* No,is correct place? */
{
break; /* Yes,break Circulation */
}
ptcb1 = ptcb2; /* Save current item */
ptcb2 = ptcb2->waitNext; /* Get next item */
}
ptcb1->waitNext = ptcb; /* Set link for list */
ptcb->waitPrev = ptcb1;
ptcb->waitNext = ptcb2;
if(ptcb2 != Co_NULL)
{
ptcb2->waitPrev = ptcb;
}
}
}
#endif
ptcb->state = TASK_WAITING; /* Set task status to TASK_WAITING state */
TaskSchedReq = Co_TRUE;
OsSchedUnlock(); /* Unlock schedule,and call task schedule */
}
/**
*******************************************************************************
* @brief Move a task from event WAITING list to the DELAY list
* @param[in] pecb Pointer to event control block corresponding to the event.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to remove a task from event wait list,and
* then insert it into the READY list.
*******************************************************************************
*/
void EventTaskToRdy(P_ECB pecb)
{
P_OSTCB ptcb;
#if CFG_QUEUE_EN >0
P_QCB pqcb;
#endif
ptcb = pecb->eventTCBList;
if(ptcb == Co_NULL)
return;
pecb->eventTCBList = ptcb->waitNext;/* Get first task in event waiting list*/
if(pecb->eventTCBList != Co_NULL) /* Is no item in event waiting list? */
{
pecb->eventTCBList->waitPrev = Co_NULL; /* No,clear link for first item */
}
ptcb->waitNext = Co_NULL; /* Clear event waiting link for task*/
ptcb->eventID = INVALID_ID; /* Sign that not to use. */
if(ptcb->delayTick != INVALID_VALUE) /* Is task in delay list? */
{
RemoveDelayList(ptcb); /* Yes,remove task from DELAY list */
}
if(pecb->eventType == EVENT_TYPE_MBOX)/* Is it a mailbox event? */
{
ptcb->pmail = pecb->eventPtr; /* Yes,send mail to task */
pecb->eventPtr = Co_NULL; /* Clear event sign */
pecb->eventCounter--;
}
#if CFG_QUEUE_EN >0
else if(pecb->eventType == EVENT_TYPE_QUEUE) /* Is it a queue event? */
{
pqcb = (P_QCB)pecb->eventPtr; /* Yes,get queue pointer */
ptcb->pmail = *(pqcb->qStart + pqcb->head); /* Send mail to task */
pqcb->head++; /* Clear event sign */
pqcb->qSize--;
if(pqcb->head == pqcb->qMaxSize)
{
pqcb->head = 0;
}
}
#endif
#if CFG_MAILBOX_EN >0
else if(pecb->eventType == EVENT_TYPE_SEM)/* Is it a semaphore event? */
{
pecb->eventCounter--; /* Yes,clear event sign */
ptcb->pmail = (void*)0xffffffff; /* Indicate task woke by event */
}
#endif
if(ptcb == TCBRunning)
{
ptcb->state = TASK_RUNNING;
}
else
{
InsertToTCBRdyList(ptcb); /* Insert task into ready list */
}
}
/**
*******************************************************************************
* @brief Move a task from event wait list to the ready list
* @param[in] pecb Pointer to event control block corresponding to the event.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to remove a task from event wait list,and
* then insert it to the ready list.
*******************************************************************************
*/
void RemoveEventWaittingList(P_OSTCB ptcb)
{
P_ECB pecb;
pecb = &EventTbl[ptcb->eventID]; /* Get event control block */
/* Is there only one item in event waiting list? */
if((ptcb->waitNext == Co_NULL) && (ptcb->waitPrev == Co_NULL))
{
pecb->eventTCBList = Co_NULL; /* Yes,set event waiting list as Co_NULL */
}
else if(ptcb->waitPrev == Co_NULL)/* Is the first item in event waiting list?*/
{
/* Yes,remove task from list,and reset event waiting list */
ptcb->waitNext->waitPrev = Co_NULL;
pecb->eventTCBList = ptcb->waitNext;
ptcb->waitNext = Co_NULL;
}
else if(ptcb->waitNext == Co_NULL)/* Is the last item in event waiting list? */
{
ptcb->waitPrev->waitNext = Co_NULL; /* Yes,remove task form list */
ptcb->waitPrev = Co_NULL;
}
else /* No, remove task from list */
{
ptcb->waitPrev->waitNext = ptcb->waitNext;
ptcb->waitNext->waitPrev = ptcb->waitPrev;
ptcb->waitPrev = Co_NULL;
ptcb->waitNext = Co_NULL;
}
ptcb->eventID = INVALID_ID; /* Sign that not to use. */
}
#endif //CFG_EVENT_EN
radio/src/CoOS/kernel/flag.c
+712
View File
@@ -0,0 +1,712 @@
/**
*******************************************************************************
* @file flag.c
* @version V1.1.4
* @date 2011.04.20
* @brief Flag management implementation code of coocox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_FLAG_EN > 0
/*---------------------------- Variable Define -------------------------------*/
#define FLAG_MAX_NUM 32 /*!< Define max flag number. */
FCB FlagCrl = {0}; /*!< Flags list struct */
/*---------------------------- Function Declare ------------------------------*/
static void FlagBlock(P_FLAG_NODE pnode,U32 flags,U8 waitType);
static P_FLAG_NODE RemoveFromLink(P_FLAG_NODE pnode);
/**
*******************************************************************************
* @brief Create a flag
* @param[in] bAutoReset Reset mode,Co_TRUE(Auto Reset) FLASE(Manual Reset).
* @param[in] bInitialState Initial state.
* @param[out] None
* @retval E_CREATE_FAIL Create flag fail.
* @retval others Create flag successful.
*
* @par Description
* @details This function use to create a event flag.
* @note
*******************************************************************************
*/
OS_FlagID CoCreateFlag(BOOL bAutoReset,BOOL bInitialState)
{
U8 i;
OsSchedLock();
for(i=0;i<FLAG_MAX_NUM;i++)
{
/* Assign a free flag control block */
if((FlagCrl.flagActive&(1<<i)) == 0 )
{
FlagCrl.flagActive |= (1<<i); /* Initialize active flag */
FlagCrl.flagRdy |= (bInitialState<<i);/* Initialize ready flag */
FlagCrl.resetOpt |= (bAutoReset<<i);/* Initialize reset option */
OsSchedUnlock();
return i ; /* Return Flag ID */
}
}
OsSchedUnlock();
return E_CREATE_FAIL; /* There is no free flag control block*/
}
/**
*******************************************************************************
* @brief Delete a flag
* @param[in] id Flag ID.
* @param[in] opt Delete option.
* @param[out] None
* @retval E_CALL Error call in ISR.
* @retval E_INVALID_ID Invalid event ID.
* @retval E_TASK_WAITTING Tasks waitting for the event,delete fail.
* @retval E_OK Event deleted successful.
*
* @par Description
* @details This function is called to delete a event flag.
* @note
*******************************************************************************
*/
StatusType CoDelFlag(OS_FlagID id,U8 opt)
{
P_FLAG_NODE pnode;
P_FCB pfcb;
pfcb = &FlagCrl;
if(OSIntNesting > 0) /* If be called from ISR */
{
return E_CALL;
}
#if CFG_PAR_CHECKOUT_EN >0
if((pfcb->flagActive&(1<<id)) == 0) /* Flag is valid or not */
{
return E_INVALID_ID;
}
#endif
OsSchedLock();
pnode = pfcb->headNode;
while(pnode != Co_NULL) /* Ready all tasks waiting for flags */
{
if((pnode->waitFlags&(1<<id)) != 0) /* If no task is waiting on flags */
{
if(opt == OPT_DEL_NO_PEND) /* Delete flag if no task waiting */
{
OsSchedUnlock();
return E_TASK_WAITING;
}
else if (opt == OPT_DEL_ANYWAY) /* Always delete the flag */
{
if(pnode->waitType == OPT_WAIT_ALL)
{
/* If the flag is only required by NODE */
if( pnode->waitFlags == (1<<id) )
{
/* Remove the NODE from waiting list */
pnode = RemoveFromLink(pnode);
continue;
}
else
{
pnode->waitFlags &= ~(1<<id); /* Update waitflags */
}
}
else
{
pnode = RemoveFromLink(pnode);
continue;
}
}
}
pnode = pnode->nextNode;
}
/* Remove the flag from the flags list */
pfcb->flagActive &= ~(1<<id);
pfcb->flagRdy &= ~(1<<id);
pfcb->resetOpt &= ~(1<<id);
OsSchedUnlock();
return E_OK;
}
/**
*******************************************************************************
* @brief AcceptSingleFlag
* @param[in] id Flag ID.
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_FLAG_NOT_READY Flag is not in ready state.
* @retval E_OK The call was successful and your task owns the Flag.
*
* @par Description
* @details This fucntion is called to accept single flag
* @note
*******************************************************************************
*/
StatusType CoAcceptSingleFlag(OS_FlagID id)
{
P_FCB pfcb;
pfcb = &FlagCrl;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= FLAG_MAX_NUM)
{
return E_INVALID_ID; /* Invalid 'id',return error */
}
if((pfcb->flagActive&(1<<id)) == 0)
{
return E_INVALID_ID; /* Flag is deactive,return error */
}
#endif
if((pfcb->flagRdy&(1<<id)) != 0) /* If the required flag is set */
{
OsSchedLock()
pfcb->flagRdy &= ~((FlagCrl.resetOpt)&(1<<id)); /* Clear the flag */
OsSchedUnlock();
return E_OK;
}
else /* If the required flag is not set */
{
return E_FLAG_NOT_READY;
}
}
/**
*******************************************************************************
* @brief AcceptMultipleFlags
* @param[in] flags Flags that waiting to active task.
* @param[in] waitType Flags wait type.
* @param[out] perr A pointer to error code.
* @retval 0
* @retval springFlag
*
* @par Description
* @details This fucntion is called to accept multiple flags.
* @note
*******************************************************************************
*/
U32 CoAcceptMultipleFlags(U32 flags,U8 waitType,StatusType *perr)
{
U32 springFlag;
P_FCB pfcb;
pfcb = &FlagCrl;
#if CFG_PAR_CHECKOUT_EN >0
if((flags&pfcb->flagActive) != flags ) /* Judge flag is active or not? */
{
*perr = E_INVALID_PARAMETER; /* Invalid flags */
return 0;
}
#endif
springFlag = flags & pfcb->flagRdy;
OsSchedLock();
/* If any required flags are set */
if( (springFlag != 0) && (waitType == OPT_WAIT_ANY) )
{
pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt); /* Clear the flags */
OsSchedUnlock();
*perr = E_OK;
return springFlag;
}
/* If all required flags are set */
if((springFlag == flags) && (waitType == OPT_WAIT_ALL))
{
pfcb->flagRdy &= ~(springFlag&pfcb->resetOpt); /* Clear the flags */
OsSchedUnlock();
*perr = E_OK;
return springFlag;
}
OsSchedUnlock();
*perr = E_FLAG_NOT_READY;
return 0;
}
/**
*******************************************************************************
* @brief WaitForSingleFlag
* @param[in] id Flag ID.
* @param[in] timeout The longest time for writting flag.
* @param[out] None
* @retval E_CALL Error call in ISR.
* @retval E_INVALID_ID Invalid event ID.
* @retval E_TIMEOUT Flag wasn't received within 'timeout' time.
* @retval E_OK The call was successful and your task owns the Flag,
* or the event you are waiting for occurred.
*
* @par Description
* @details This function is called to wait for only one flag,
* (1) if parameter "timeout" == 0,waiting until flag be set;
* (2) when "timeout" != 0,if flag was set or wasn't set but timeout
* occured,the task will exit the waiting list,convert to READY
* or RUNNING state.
* @note
*******************************************************************************
*/
StatusType CoWaitForSingleFlag(OS_FlagID id,U32 timeout)
{
FLAG_NODE flagNode;
P_FCB pfcb;
P_OSTCB curTCB;
if(OSIntNesting > 0) /* See if the caller is ISR */
{
return E_CALL;
}
if(OSSchedLock != 0) /* Schedule is lock? */
{
return E_OS_IN_LOCK; /* Yes,error return */
}
#if CFG_PAR_CHECKOUT_EN >0
if(id >= FLAG_MAX_NUM) /* Judge id is valid or not? */
{
return E_INVALID_ID; /* Invalid 'id' */
}
if((FlagCrl.flagActive&(1<<id)) == 0 )/* Judge flag is active or not? */
{
return E_INVALID_ID; /* Flag is deactive ,return error */
}
#endif
OsSchedLock();
pfcb = &FlagCrl;
/* See if the required flag is set */
if((pfcb->flagRdy&(1<<id)) != 0) /* If the required flag is set */
{
pfcb->flagRdy &= ~((pfcb->resetOpt&(1<<id))); /* Clear the flag */
OsSchedUnlock();
}
else /* If the required flag is not set */
{
curTCB = TCBRunning;
if(timeout == 0) /* If time-out is not configured */
{
/* Block task until the required flag is set */
FlagBlock (&flagNode,(1<<id),OPT_WAIT_ONE);
curTCB->state = TASK_WAITING;
TaskSchedReq = Co_TRUE;
OsSchedUnlock();
/* The required flag is set and the task is in running state */
curTCB->pnode = Co_NULL;
OsSchedLock();
/* Clear the required flag or not */
pfcb->flagRdy &= ~((1<<id)&(pfcb->resetOpt));
OsSchedUnlock();
}
else /* If time-out is configured */
{
/* Block task until the required flag is set or time-out occurs */
FlagBlock(&flagNode,(1<<id),OPT_WAIT_ONE);
InsertDelayList(curTCB,timeout);
OsSchedUnlock();
if(curTCB->pnode == Co_NULL) /* If time-out occurred */
{
return E_TIMEOUT;
}
else /* If flag is set */
{
curTCB->pnode = Co_NULL;
OsSchedLock();
/* Clear the required flag or not */
pfcb->flagRdy &= ~((1<<id)&(pfcb->resetOpt));
OsSchedUnlock();
}
}
}
return E_OK;
}
/**
*******************************************************************************
* @brief WaitForMultipleFlags
* @param[in] flags Flags that waiting to active task.
* @param[in] waitType Flags wait type.
* @param[in] timeout The longest time for writting flag.
* @param[out] perr A pointer to error code.
* @retval 0
* @retval springFlag
*
* @par Description
* @details This function is called to pend a task for waitting multiple flag.
* @note
*******************************************************************************
*/
U32 CoWaitForMultipleFlags(U32 flags,U8 waitType,U32 timeout,StatusType *perr)
{
U32 springFlag;
P_FCB pfcb;
FLAG_NODE flagNode;
P_OSTCB curTCB;
if(OSIntNesting > 0) /* If the caller is ISR */
{
*perr = E_CALL;
return 0;
}
if(OSSchedLock != 0) /* Schedule is lock? */
{
*perr = E_OS_IN_LOCK;
return 0; /* Yes,error return */
}
#if CFG_PAR_CHECKOUT_EN >0
if( (flags&FlagCrl.flagActive) != flags )
{
*perr = E_INVALID_PARAMETER; /* Invalid 'flags' */
return 0;
}
#endif
OsSchedLock();
pfcb = &FlagCrl;
springFlag = flags & pfcb->flagRdy;
/* If any required flags are set */
if((springFlag != 0) && (waitType == OPT_WAIT_ANY))
{
pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt); /* Clear the flag */
OsSchedUnlock();
*perr = E_OK;
return springFlag;
}
/* If all required flags are set */
if( (springFlag == flags) && (waitType == OPT_WAIT_ALL) )
{
pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt); /* Clear the flags */
OsSchedUnlock();
*perr = E_OK;
return springFlag;
}
curTCB = TCBRunning;
if(timeout == 0) /* If time-out is not configured */
{
/* Block task until the required flag are set */
FlagBlock(&flagNode,flags,waitType);
curTCB->state = TASK_WAITING;
TaskSchedReq = Co_TRUE;
OsSchedUnlock();
curTCB->pnode = Co_NULL;
OsSchedLock();
springFlag = flags & pfcb->flagRdy;
pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);/* Clear the flags */
OsSchedUnlock();
*perr = E_OK;
return springFlag;
}
else /* If time-out is configured */
{
/* Block task until the required flag are set or time-out occurred */
FlagBlock(&flagNode,flags,waitType);
InsertDelayList(curTCB,timeout);
OsSchedUnlock();
if(curTCB->pnode == Co_NULL) /* If time-out occurred */
{
*perr = E_TIMEOUT;
return 0;
}
else /* If the required flags are set */
{
curTCB->pnode = Co_NULL;
OsSchedLock();
springFlag = flags & FlagCrl.flagRdy;
/* Clear the required ready flags or not */
pfcb->flagRdy &= ~(springFlag & pfcb->resetOpt);
OsSchedUnlock();
*perr = E_OK;
return springFlag;
}
}
}
/**
*******************************************************************************
* @brief Clear a Flag
* @param[in] id Flag ID.
* @param[out] None
* @retval E_OK Event deleted successful.
* @retval E_INVALID_ID Invalid event ID.
*
* @par Description
* @details This function is called to clear a flag.
*
* @note
*******************************************************************************
*/
StatusType CoClearFlag(OS_FlagID id)
{
P_FCB pfcb;
pfcb = &FlagCrl;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= FLAG_MAX_NUM)
{
return E_INVALID_ID; /* Invalid id */
}
if((pfcb->flagActive&(1<<id)) == 0)
{
return E_INVALID_ID; /* Invalid flag */
}
#endif
pfcb->flagRdy &= ~(1<<id); /* Clear the flag */
return E_OK;
}
/**
*******************************************************************************
* @brief Set a flag
* @param[in] id Flag ID.
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_OK Event deleted successful.
*
* @par Description
* @details This function is called to set a flag.
* @note
*******************************************************************************
*/
StatusType CoSetFlag(OS_FlagID id)
{
P_FLAG_NODE pnode;
P_FCB pfcb;
pfcb = &FlagCrl;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= FLAG_MAX_NUM) /* Flag is valid or not */
{
return E_INVALID_ID; /* Invalid flag id */
}
if((pfcb->flagActive&(1<<id)) == 0)
{
return E_INVALID_ID; /* Flag is not exist */
}
#endif
if((pfcb->flagRdy&(1<<id)) != 0) /* Flag had already been set */
{
return E_OK;
}
pfcb->flagRdy |= (1<<id); /* Update the flags ready list */
OsSchedLock();
pnode = pfcb->headNode;
while(pnode != Co_NULL)
{
if(pnode->waitType == OPT_WAIT_ALL) /* Extract all the bits we want */
{
if((pnode->waitFlags&pfcb->flagRdy) == pnode->waitFlags)
{
/* Remove the flag node from the wait list */
pnode = RemoveFromLink(pnode);
if((pfcb->resetOpt&(1<<id)) != 0)/* If the flags is auto-reset*/
{
break;
}
continue;
}
}
else /* Extract only the bits we want */
{
if( (pnode->waitFlags & pfcb->flagRdy) != 0)
{
/* Remove the flag node from the wait list */
pnode = RemoveFromLink(pnode);
if((pfcb->resetOpt&(1<<id)) != 0)
{
break; /* The flags is auto-reset */
}
continue;
}
}
pnode = pnode->nextNode;
}
OsSchedUnlock();
return E_OK;
}
/**
*******************************************************************************
* @brief Set a flag in ISR
* @param[in] id Flag ID.
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_OK Event deleted successful.
*
* @par Description
* @details This function is called in ISR to set a flag.
* @note
*******************************************************************************
*/
#if CFG_MAX_SERVICE_REQUEST > 0
StatusType isr_SetFlag(OS_FlagID id)
{
if(OSSchedLock > 0) /* If scheduler is locked,(the caller is ISR) */
{
/* Insert the request into service request queue */
if(InsertInSRQ(FLAG_REQ,id,Co_NULL) == Co_FALSE)
{
return E_SEV_REQ_FULL; /* The service requst queue is full */
}
else
{
return E_OK;
}
}
else
{
return(CoSetFlag(id)); /* The caller is not ISR, set the flag*/
}
}
#endif
/**
*******************************************************************************
* @brief Block a task to wait a flag event
* @param[in] pnode A node that will link into flag waiting list.
* @param[in] flags Flag(s) that the node waiting for.
* @param[in] waitType Waiting type of the node.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to block a task to wait a flag event.
* @note
*******************************************************************************
*/
static void FlagBlock(P_FLAG_NODE pnode,U32 flags,U8 waitType)
{
P_FCB pfcb;
pfcb = &FlagCrl;
TCBRunning->pnode = pnode;
pnode->waitTask = TCBRunning;
pnode->waitFlags = flags; /* Save the flags that we need to wait for*/
pnode->waitType = waitType; /* Save the type of wait */
if(pfcb->tailNode == Co_NULL) /* If this is the first NODE to insert? */
{
pnode->nextNode = Co_NULL;
pnode->prevNode = Co_NULL;
pfcb->headNode = pnode; /* Insert the NODE to the head */
}
else /* If it is not the first NODE to insert? */
{
pfcb->tailNode->nextNode = pnode; /* Insert the NODE to the tail */
pnode->prevNode = pfcb->tailNode;
pnode->nextNode = Co_NULL;
}
pfcb->tailNode = pnode;
}
/**
*******************************************************************************
* @brief Remove a flag node from list
* @param[in] pnode A node that will remove from flag waiting list.
* @param[out] None
* @retval pnode Next node of the node that have removed out.
*
* @par Description
* @details This function is called to remove a flag node from the wait list.
* @note
*******************************************************************************
*/
static P_FLAG_NODE RemoveFromLink(P_FLAG_NODE pnode)
{
P_OSTCB ptcb;
RemoveLinkNode(pnode); /* Remove the flag node from wait list. */
ptcb = pnode->waitTask;
/* The task in the delay list */
if(ptcb->delayTick != INVALID_VALUE)/* If the task is in tick delay list */
{
RemoveDelayList(ptcb); /* Remove the task from tick delay list */
}
ptcb->pnode = (void*)0xffffffff;
if(ptcb == TCBRunning)
{
ptcb->state = TASK_RUNNING;
}
else
{
InsertToTCBRdyList(ptcb); /* Insert the task to ready list */
}
return (pnode->nextNode);
}
/**
*******************************************************************************
* @brief Remove a flag node from list
* @param[in] pnode A node that will remove from flag waiting list.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to remove a flag node from the wait list.
* @note
*******************************************************************************
*/
void RemoveLinkNode(P_FLAG_NODE pnode)
{
/* If only one NODE in the list*/
if((pnode->nextNode == Co_NULL) && (pnode->prevNode == Co_NULL))
{
FlagCrl.headNode = Co_NULL;
FlagCrl.tailNode = Co_NULL;
}
else if(pnode->nextNode == Co_NULL) /* If the NODE is tail */
{
FlagCrl.tailNode = pnode->prevNode;
pnode->prevNode->nextNode = Co_NULL;
}
else if(pnode->prevNode == Co_NULL) /* If the NODE is head */
{
FlagCrl.headNode = pnode->nextNode;
pnode->nextNode->prevNode = Co_NULL;
}
else /* The NODE is in the middle */
{
pnode->nextNode->prevNode = pnode->prevNode;
pnode->prevNode->nextNode = pnode->nextNode;
}
pnode->waitTask->pnode = Co_NULL;
}
#endif
radio/src/CoOS/kernel/hook.c
+65
View File
@@ -0,0 +1,65 @@
/**
*******************************************************************************
* @file hook.c
* @version V1.1.4
* @date 2011.04.20
* @brief hook management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Inlcude --------------------------------------*/
#include <coocox.h>
/**
*******************************************************************************
* @brief IDLE task of OS
* @param[in] pdata The parameter passed to IDLE task.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is system IDLE task code.
*******************************************************************************
*/
void CoIdleTask(void* pdata)
{
/* Add your codes here */
for(; ;)
{
/* Add your codes here */
}
}
/**
*******************************************************************************
* @brief Hook for stack overflow
* @param[in] taskID Piont to the task which lead to stack overflow.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is a hook for stack overflow.
*******************************************************************************
*/
void CoStkOverflowHook(OS_TID taskID)
{
/* Process stack overflow here */
for(; ;)
{
}
}
radio/src/CoOS/kernel/kernelHeap.c
+409
View File
@@ -0,0 +1,409 @@
/**
*******************************************************************************
* @file kernelHeap.c
* @version V1.1.4
* @date 2011.04.20
* @brief kernel heap management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_KHEAP_EN >0
/*---------------------------- Variable Define -------------------------------*/
U32 KernelHeap[KHEAP_SIZE] = {0}; /*!< Kernel heap */
P_FMB FMBlist = Co_NULL; /*!< Free memory block list */
KHeap Kheap = {0}; /*!< Kernel heap control */
/*---------------------------- Function Declare ------------------------------*/
static P_FMB GetPreFMB(P_UMB usedMB);
/**
*******************************************************************************
* @brief Create kernel heap
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to create kernel heap.
*******************************************************************************
*/
void CoCreateKheap(void)
{
Kheap.startAddr = (U32)(KernelHeap); /* Initialize kernel heap control */
Kheap.endAddr = (U32)(KernelHeap) + KHEAP_SIZE*4;
FMBlist = (P_FMB)KernelHeap; /* Initialize free memory block list*/
FMBlist->nextFMB = Co_NULL;
FMBlist->nextUMB = Co_NULL;
FMBlist->preUMB = Co_NULL;
}
/**
*******************************************************************************
* @brief Allocation size bytes of memory block from kernel heap.
* @param[in] size Length of menory block.
* @param[out] None
* @retval Co_NULL Allocate fail.
* @retval others Pointer to memory block.
*
* @par Description
* @details This function is called to allocation size bytes of memory block.
*******************************************************************************
*/
void* CoKmalloc(U32 size)
{
P_FMB freeMB,newFMB,preFMB;
P_UMB usedMB,tmpUMB;
U8* memAddr;
U32 freeSize;
U32 kheapAddr;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if( size == 0 )
{
return Co_NULL;
}
#endif
/* Word alignment,and add used memory head size */
size = (((size+3)>>2)<<2) + 8;
kheapAddr = Kheap.endAddr; /* Get the end address of kernel heap */
OsSchedLock(); /* Lock schedule */
freeMB = FMBlist; /* Get first item of free memory list */
preFMB = Co_NULL;
while(freeMB != Co_NULL ) /* Is out of free memory list? */
{ /* No */
if(freeMB->nextUMB == Co_NULL) /* Is last item of free memory list? */
{ /* Yes,get size for this free item */
freeSize = kheapAddr - (U32)(freeMB);
}
else /* No,get size for this free item */
{
freeSize = (U32)(freeMB->nextUMB) -1 - (U32)(freeMB);
}
if(freeSize >= size) /* If the size equal or greater than need */
{ /* Yes,assign in this free memory */
usedMB=(P_UMB)freeMB;/* Get the address for used memory block head*/
/* Get the address for used memory block */
memAddr = (U8*)((U32)(usedMB) + 8);
/* Is left size of free memory smaller than 12? */
if((freeSize-size) < 12)
{
/* Yes,malloc together(12 is the size of the header information
of free memory block ). */
if(preFMB != Co_NULL)/* Is first item of free memory block list? */
{ /* No,set the link for list */
preFMB->nextFMB = freeMB->nextFMB;
}
else /* Yes,reset the first item */
{
FMBlist = freeMB->nextFMB;
}
if(freeMB->nextUMB != Co_NULL) /* Is last item? */
{ /* No,set the link for list */
tmpUMB = (P_UMB)((U32)(freeMB->nextUMB)-1);
tmpUMB->preMB = (void*)((U32)usedMB|0x1);
}
usedMB->nextMB = freeMB->nextUMB;/* Set used memory block link*/
usedMB->preMB = freeMB->preUMB;
}
else /* No,the left size more than 12 */
{
/* Get new free memory block address */
newFMB = (P_FMB)((U32)(freeMB) + size);
if(preFMB != Co_NULL)/* Is first item of free memory block list? */
{
preFMB->nextFMB = newFMB; /* No,set the link for list */
}
else
{
FMBlist = newFMB; /* Yes,reset the first item */
}
/* Set link for new free memory block */
newFMB->preUMB = (P_UMB)((U32)usedMB|0x1);
newFMB->nextUMB = freeMB->nextUMB;
newFMB->nextFMB = freeMB->nextFMB;
if(freeMB->nextUMB != Co_NULL) /* Is last item? */
{ /* No,set the link for list */
tmpUMB = (P_UMB)((U32)(freeMB->nextUMB)-1);
tmpUMB->preMB = newFMB;
}
usedMB->nextMB = newFMB; /* Set used memory block link */
usedMB->preMB = freeMB->preUMB;
}
if(freeMB->preUMB != Co_NULL) /* Is first item? */
{ /* No,set the link for list */
tmpUMB = (P_UMB)((U32)(freeMB->preUMB)-1);
tmpUMB->nextMB = (void*)((U32)usedMB|0x1);
}
OsSchedUnlock(); /* Unlock schedule */
return memAddr; /* Return used memory block address */
}
preFMB = freeMB; /* Save current free memory block as previous */
freeMB = freeMB->nextFMB; /* Get the next item as current item*/
}
OsSchedUnlock(); /* Unlock schedule */
return Co_NULL; /* Error return */
}
/**
*******************************************************************************
* @brief Release memory block to kernel heap.
* @param[in] memBuf Pointer to memory block.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to release memory block.
*******************************************************************************
*/
void CoKfree(void* memBuf)
{
P_FMB curFMB,nextFMB,preFMB;
P_UMB usedMB,nextUMB,preUMB;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(memBuf == Co_NULL)
{
return;
}
#endif
usedMB = (P_UMB)((U32)(memBuf)-8);
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if((U32)(memBuf) < Kheap.startAddr)
{
return;
}
if((U32)(memBuf) > Kheap.endAddr)
{
return;
}
#endif
OsSchedLock(); /* Lock schedule */
#if CFG_PAR_CHECKOUT_EN >0 /* Check UMB in list */
if((U32)(usedMB) < (U32)(FMBlist))
{
preUMB = (P_UMB)((U32)(FMBlist->preUMB)-1);
while(preUMB != usedMB)
{
if(preUMB == Co_NULL)
{
OsSchedUnlock();
return;
}
preUMB = (P_UMB)((U32)(preUMB->preMB)-1);
}
}
else
{
if(FMBlist == Co_NULL)
{
nextUMB = (P_UMB)(Kheap.startAddr);
}
else
{
if(FMBlist->nextUMB != Co_NULL)
{
nextUMB = (P_UMB)((U32)(FMBlist->nextUMB)-1);
}
else
{
nextUMB = Co_NULL;
}
}
while(nextUMB != usedMB)
{
if(nextUMB == Co_NULL)
{
OsSchedUnlock();
return;
}
if(((U32)(nextUMB->nextMB)&0x1) == 0)
{
nextFMB = (P_FMB)(nextUMB->nextMB);
nextUMB = (P_UMB)((U32)(nextFMB->nextUMB)-1);
}
else
{
nextUMB = (P_UMB)((U32)(nextUMB->nextMB)-1);
}
}
}
#endif
/* Is between two free memory block? */
if( (((U32)(usedMB->nextMB)&0x1) == 0) && (((U32)(usedMB->preMB)&0x1)==0) )
{ /* Yes,is the only one item in kernel heap? */
if((usedMB->nextMB == Co_NULL) && (usedMB->preMB == Co_NULL))
{
curFMB = (P_FMB)usedMB; /* Yes,release this item */
curFMB->nextFMB = Co_NULL;
curFMB->nextUMB = Co_NULL;
curFMB->preUMB = Co_NULL;
FMBlist = curFMB;
}
else if(usedMB->preMB == Co_NULL) /* Is the first item in kernel heap */
{
/* Yes,release this item,and set link for list */
curFMB = (P_FMB)usedMB;
nextFMB = (P_FMB)usedMB->nextMB;
curFMB->nextFMB = nextFMB->nextFMB;
curFMB->nextUMB = nextFMB->nextUMB;
curFMB->preUMB = Co_NULL;
FMBlist = curFMB;
}
else if(usedMB->nextMB == Co_NULL) /* Is the last item in kernel heap */
{ /* Yes,release this item,and set link for list */
curFMB = (P_FMB)(usedMB->preMB);
curFMB->nextFMB = Co_NULL;
curFMB->nextUMB = Co_NULL;
}
else /* All no,show this item between two normal FMB */
{
/* release this item,and set link for list */
nextFMB = (P_FMB)usedMB->nextMB;
curFMB = (P_FMB)(usedMB->preMB);
curFMB->nextFMB = nextFMB->nextFMB;
curFMB->nextUMB = nextFMB->nextUMB;
}
}
else if(((U32)(usedMB->preMB)&0x1) == 0) /* Is between FMB and UMB? */
{
if(usedMB->preMB == Co_NULL) /* Yes,is the first item in kernel heap? */
{
/* Yes,release this item,and set link for list */
curFMB = (P_FMB)usedMB;
nextUMB = (P_UMB)usedMB->nextMB;
curFMB->nextUMB = nextUMB;
curFMB->preUMB = Co_NULL;
curFMB->nextFMB = FMBlist;
FMBlist = curFMB;
}
else /* No,release this item,and set link for list */
{
curFMB = (P_FMB)usedMB->preMB;
nextUMB = (P_UMB)usedMB->nextMB;
curFMB->nextUMB = nextUMB;
}
}
else if(((U32)(usedMB->nextMB)&0x1) == 0) /* Is between UMB and FMB? */
{ /* Yes */
preUMB = (P_UMB)(usedMB->preMB); /* Get previous UMB */
curFMB = (P_FMB)(usedMB); /* new FMB */
preFMB = GetPreFMB(usedMB); /* Get previous FMB */
if(preFMB == Co_NULL) /* Is previous FMB==Co_NULL? */
{
nextFMB = FMBlist; /* Yes,get next FMB */
FMBlist = curFMB; /* Reset new FMB as the first item of FMB list*/
}
else
{
nextFMB = preFMB->nextFMB; /* No,get next FMB */
preFMB->nextFMB = curFMB; /* Set link for FMB list */
}
if(nextFMB == Co_NULL) /* Is new FMB as last item of FMB list? */
{
curFMB->preUMB = preUMB; /* Yes,set link for list */
curFMB->nextUMB = Co_NULL;
curFMB->nextFMB = Co_NULL;
}
else
{
curFMB->preUMB = preUMB; /* No,set link for list */
curFMB->nextUMB = nextFMB->nextUMB;
curFMB->nextFMB = nextFMB->nextFMB;
}
}
else /* All no,show UMB between two UMB*/
{
curFMB = (P_FMB)(usedMB); /* new FMB */
preFMB = GetPreFMB(usedMB); /* Get previous FMB */
preUMB = (P_UMB)(usedMB->preMB); /* Get previous UMB */
nextUMB = (P_UMB)(usedMB->nextMB); /* Get next UMB */
if(preFMB == Co_NULL ) /* Is previous FMB==Co_NULL? */
{
nextFMB = FMBlist; /* Yes,get next FMB */
FMBlist = curFMB; /* Reset new FMB as the first item of FMB list */
}
else
{
nextFMB = preFMB->nextFMB; /* No,get next FMB */
preFMB->nextFMB = curFMB; /* Set link for FMB list */
}
curFMB->preUMB = preUMB; /* Set current FMB link for list */
curFMB->nextUMB = nextUMB;
curFMB->nextFMB = nextFMB;
}
if(curFMB->preUMB != Co_NULL)/* Is current FMB as first item in kernel heap? */
{ /* No,set link for list */
preUMB = (P_UMB)((U32)(curFMB->preUMB)-1);
preUMB->nextMB = (void*)curFMB;
}
if(curFMB->nextUMB != Co_NULL)/* Is current FMB as last item in kernel heap? */
{ /* No,set link for list */
nextUMB = (P_UMB)((U32)(curFMB->nextUMB)-1);
nextUMB->preMB = (void*)curFMB;
}
OsSchedUnlock(); /* Unlock schedule */
}
/**
*******************************************************************************
* @brief Get previous free memory block pointer.
* @param[in] usedMB Current used memory block.
* @param[out] None
* @retval Previous free memory block pointer.
*
* @par Description
* @details This function is called to get previous free memory block pointer.
*******************************************************************************
*/
static P_FMB GetPreFMB(P_UMB usedMB)
{
P_UMB preUMB;
preUMB = usedMB;
while(((U32)(preUMB->preMB)&0x1)) /* Is previous MB as FMB? */
{ /* No,get previous MB */
preUMB = (P_UMB)((U32)(preUMB->preMB)-1);
}
return (P_FMB)(preUMB->preMB); /* Yes,return previous MB */
}
#endif
radio/src/CoOS/kernel/mbox.c
+325
View File
@@ -0,0 +1,325 @@
/**
*******************************************************************************
* @file mbox.c
* @version V1.1.4
* @date 2011.04.20
* @brief Mailbox management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_MAILBOX_EN > 0
/**
*******************************************************************************
* @brief Create a mailbox
* @param[in] sortType Mail box waiting list sort type.
* @param[out] None
* @retval E_CREATE_FAIL Create mailbox fail.
* @retval others Create mailbox successful.
*
* @par Description
* @details This function is called to create a mailbox.
* @note
*******************************************************************************
*/
OS_EventID CoCreateMbox(U8 sortType)
{
P_ECB pecb;
/* Create a mailbox type event control block */
pecb = CreatEvent(EVENT_TYPE_MBOX,sortType,Co_NULL);
if(pecb == Co_NULL) /* If failed to create event block */
{
return E_CREATE_FAIL;
}
pecb->eventCounter = 0;
return (pecb->id); /* Create a mailbox successfully, return event ID */
}
/**
*******************************************************************************
* @brief Delete a mailbox
* @param[in] id Event ID.
* @param[in] opt Delete option.
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_INVALID_PARAMETER Invalid parameter.
* @retval E_TASK_WAITTING Tasks waitting for the event,delete fail.
* @retval E_OK Event deleted successful.
*
* @par Description
* @details This function is called to delete a mailbox.
* @note
*******************************************************************************
*/
StatusType CoDelMbox(OS_EventID id,U8 opt)
{
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT) /* Judge id is valid or not? */
{
return E_INVALID_ID; /* Id is invalid ,return error */
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_MBOX)/* Validate event control block type*/
{
return E_INVALID_ID; /* The event is not mailbox */
}
#endif
return (DeleteEvent(pecb,opt)); /* Delete the mailbox event control block */
}
/**
*******************************************************************************
* @brief Accept a mailbox
* @param[in] id Event ID.
* @param[out] perr A pointer to error code.
* @retval Co_NULL
* @retval A pointer to mailbox accepted.
*
* @par Description
* @details This function is called to accept a mailbox.
* @note
*******************************************************************************
*/
void* CoAcceptMail(OS_EventID id,StatusType* perr)
{
P_ECB pecb;
void* pmail;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
*perr = E_INVALID_ID; /* Invalid 'id' */
return Co_NULL;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_MBOX)/* Invalid event control block type */
{
*perr = E_INVALID_ID;
return Co_NULL;
}
#endif
OsSchedLock();
if(pecb->eventCounter == 1) /* If there is already a message */
{
*perr = E_OK;
pmail = pecb->eventPtr; /* Get the message */
pecb->eventPtr = Co_NULL; /* Clear the mailbox */
pecb->eventCounter = 0;
OsSchedUnlock();
return pmail; /* Return the message received */
}
else /* If the mailbox is empty */
{
OsSchedUnlock();
*perr = E_MBOX_EMPTY; /* Mailbox is empty,return Co_NULL */
return Co_NULL;
}
}
/**
*******************************************************************************
* @brief Wait for a mailbox
* @param[in] id Event ID.
* @param[in] timeout The longest time for writting mail.
* @param[out] perr A pointer to error code.
* @retval Co_NULL
* @retval A pointer to mailbox accept.
*
* @par Description
* @details This function is called to wait a mailbox.
* @note
*******************************************************************************
*/
void* CoPendMail(OS_EventID id,U32 timeout,StatusType* perr)
{
P_ECB pecb;
void* pmail;
P_OSTCB curTCB;
if(OSIntNesting > 0) /* If the caller is ISR */
{
*perr = E_CALL;
return Co_NULL;
}
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
*perr = E_INVALID_ID; /* Invalid 'id',retrun error */
return Co_NULL;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_MBOX)
{
*perr = E_INVALID_ID; /* Invalid event type,not EVENT_TYPE_MBOX */
return Co_NULL;
}
#endif
if(OSSchedLock != 0) /* Judge schedule is locked or not? */
{
*perr = E_OS_IN_LOCK; /* Schedule is locked */
return Co_NULL; /* return Co_NULL */
}
OsSchedLock();
if( pecb->eventCounter == 1) /* If there is already a message */
{
*perr = E_OK;
pmail = pecb->eventPtr; /* Get the message */
pecb->eventPtr = Co_NULL; /* Clear the mailbox */
pecb->eventCounter = 0;
OsSchedUnlock();
return pmail; /* Return the message received */
}
else /* If message is not available, task will pend */
{
OsSchedUnlock();
curTCB = TCBRunning;
if(timeout == 0) /* If time-out is not configured */
{
EventTaskToWait(pecb,curTCB); /* Block task until event occurs */
*perr = E_OK;
/* Have recived a message or the mailbox have been deleted */
pmail = curTCB->pmail;
curTCB->pmail = Co_NULL;
return pmail; /* Return received message or Co_NULL */
}
else /* If time-out is configured */
{
OsSchedLock();
/* Block task until event or timeout occurs */
EventTaskToWait(pecb,curTCB);
InsertDelayList(curTCB,timeout);
OsSchedUnlock();
if( curTCB->pmail == Co_NULL) /* Time-out occurred */
{
*perr = E_TIMEOUT;
return Co_NULL;
}
else /* Have recived a message or the mailbox have been deleted*/
{
*perr = E_OK;
pmail = curTCB->pmail;
curTCB->pmail = Co_NULL;
return pmail; /* Return received message or Co_NULL */
}
}
}
}
/**
*******************************************************************************
* @brief Post a mailbox
* @param[in] id Event ID.
* @param[in] pmail Pointer to mail that want to send.
* @param[out] None
* @retval E_INVALID_ID
* @retval E_OK
*
* @par Description
* @details This function is called to post a mail.
* @note
*******************************************************************************
*/
StatusType CoPostMail(OS_EventID id,void* pmail)
{
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID; /* Invalid id,return error */
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_MBOX)/* Validate event control block type*/
{
return E_INVALID_ID; /* Event is not mailbox,return error*/
}
#endif
if(pecb->eventCounter == 0) /* If mailbox doesn't already have a message*/
{
OsSchedLock();
pecb->eventPtr = pmail; /* Place message in mailbox */
pecb->eventCounter = 1;
EventTaskToRdy(pecb); /* Check waiting list */
OsSchedUnlock();
return E_OK;
}
else /* If there is already a message in mailbox */
{
return E_MBOX_FULL; /* Mailbox is full,and return "E_MBOX_FULL" */
}
}
/**
*******************************************************************************
* @brief Post a mailbox in ISR
* @param[in] id Event ID.
* @param[in] pmail Pointer to mail that want to send.
* @param[out] None
* @retval E_INVALID_ID
* @retval E_OK
*
* @par Description
* @details This function is called to post a mail in ISR.
* @note
*******************************************************************************
*/
#if CFG_MAX_SERVICE_REQUEST > 0
StatusType isr_PostMail(OS_EventID id,void* pmail)
{
if(OSSchedLock > 0) /* If scheduler is locked,(the caller is ISR) */
{
/* Insert the request into service request queue */
if(InsertInSRQ(MBOX_REQ,id,pmail) == Co_FALSE)
{
return E_SEV_REQ_FULL; /* If service request queue is full */
}
else /* Operate successfully */
{
return E_OK;
}
}
else
{
return(CoPostMail(id,pmail)); /* Sends the message to the mailbox */
}
}
#endif
#endif
radio/src/CoOS/kernel/mm.c
+275
View File
@@ -0,0 +1,275 @@
/**
*******************************************************************************
* @file mm.c
* @version V1.1.4
* @date 2011.04.20
* @brief memory management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_MM_EN > 0
/*---------------------------- Variable Define -------------------------------*/
MM MemoryTbl[CFG_MAX_MM] = {{0}};/*!< Table which save memory control block. */
U32 MemoryIDVessel = 0; /*!< Memory ID container. */
/**
*******************************************************************************
* @brief Create a memory partition
* @param[in] memBuf Specify memory partition head address.
* @param[in] blockSize Specify memory block size.
* @param[in] blockNum Specify memory block number.
* @param[out] None
* @retval E_CREATE_FAIL Create memory partition fail.
* @retval others Create memory partition successful.
*
* @par Description
* @details This function is called to create a memory partition.
*******************************************************************************
*/
OS_MMID CoCreateMemPartition(U8* memBuf,U32 blockSize,U32 blockNum)
{
U8 i,j;
U8 *memory;
P_MemBlk memBlk;
memory = memBuf;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(memBuf == Co_NULL)
{
return E_CREATE_FAIL;
}
if(blockSize == 0)
{
return E_CREATE_FAIL;
}
if((blockSize&0x3) != 0)
{
return E_CREATE_FAIL;
}
if(blockNum<=1)
{
return E_CREATE_FAIL;
}
#endif
OsSchedLock(); /* Lock schedule */
for(i = 0; i < CFG_MAX_MM; i++)
{
if((MemoryIDVessel & (1 << i)) == 0) /* Is free memory ID? */
{
MemoryIDVessel |= (1<<i); /* Yes,assign ID to this memory block */
OsSchedUnlock(); /* Unlock schedule */
MemoryTbl[i].memAddr = memory;/* Initialize memory control block*/
MemoryTbl[i].freeBlock = memory;
MemoryTbl[i].blockSize = blockSize;
MemoryTbl[i].blockNum = blockNum;
memBlk = (P_MemBlk)memory; /* Bulid list in this memory block*/
for(j=0;j<blockNum-1;j++)
{
memory = memory+blockSize;
memBlk->nextBlock = (P_MemBlk)memory;
memBlk = memBlk->nextBlock;
}
memBlk->nextBlock = Co_NULL;
return i; /* Return memory block ID */
}
}
OsSchedUnlock(); /* Unlock schedule */
return E_CREATE_FAIL; /* Error return */
}
/**
*******************************************************************************
* @brief Delete a memory partition
* @param[in] mmID Specify memory partition that want to delete.
* @param[out] None
* @retval E_INVALID_ID The memory partition id passed was invalid,delete fail.
* @retval E_OK Delete successful.
*
* @par Description
* @details This function is called to Delete a memory partition.
*******************************************************************************
*/
StatusType CoDelMemoryPartition(OS_MMID mmID)
{
P_MM memCtl;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(mmID >= CFG_MAX_MM)
{
return E_INVALID_ID;
}
if( ((1<<mmID)&MemoryIDVessel) == 0)
{
return E_INVALID_ID;
}
#endif
OsSchedLock(); /* Lock schedule */
memCtl = &MemoryTbl[mmID]; /* Release memory control block */
MemoryIDVessel &= ~(1<<mmID);
OsSchedUnlock(); /* Unlock schedule */
memCtl->memAddr = Co_NULL;
memCtl->freeBlock = Co_NULL;
memCtl->blockSize = 0;
memCtl->blockNum = 0;
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Get free block number in a memory partition
* @param[in] mmID Specify memory partition.
*
* @param[out] E_INVALID_ID Invalid ID was passed and get counter failure.
* @param[out] E_OK Get current counter successful.
* @retval fbNum The number of free block.
*
* @par Description
* @details This function is called to get free block number in a memory
* partition.
*******************************************************************************
*/
U32 CoGetFreeBlockNum(OS_MMID mmID,StatusType* perr)
{
U32 fbNum;
P_MM memCtl;
P_MemBlk memBlk;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(mmID >= CFG_MAX_MM)
{
*perr = E_INVALID_ID;
return 0;
}
if( ((1<<mmID)&MemoryIDVessel) == 0)
{
*perr = E_INVALID_ID; /* Invalid memory id,return 0 */
return 0;
}
#endif
memCtl = &MemoryTbl[mmID];
OsSchedLock(); /* Lock schedule */
memBlk = (P_MemBlk)(memCtl->freeBlock);/* Get the free item in memory list*/
fbNum = 0;
while(memBlk != Co_NULL) /* Get counter of free item */
{
fbNum++;
memBlk = memBlk->nextBlock; /* Get next free iterm */
}
OsSchedUnlock(); /* Unlock schedul */
*perr = E_OK;
return fbNum; /* Return the counter of free item */
}
/**
*******************************************************************************
* @brief Get a memory buffer from memory partition
* @param[in] mmID Specify memory partition that want to assign buffer.
* @param[out] None
* @retval Co_NULL Assign buffer fail.
* @retval others Assign buffer successful,and return the buffer pointer.
*
* @par Description
* @details This function is called to Delete a memory partition.
*******************************************************************************
*/
void* CoGetMemoryBuffer(OS_MMID mmID)
{
P_MM memCtl;
P_MemBlk memBlk;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(mmID >= CFG_MAX_MM)
{
return Co_NULL;
}
if( ((1<<mmID)&MemoryIDVessel) == 0)
{
return Co_NULL;
}
#endif
memCtl = &MemoryTbl[mmID];
OsSchedLock(); /* Lock schedule */
if(memCtl->freeBlock == Co_NULL ) /* Is there no free item in memory list */
{
OsSchedUnlock(); /* Unlock schedule */
return Co_NULL; /* Yes,error return */
}
memBlk = (P_MemBlk)memCtl->freeBlock; /* Get free memory block */
memCtl->freeBlock = (U8*)memBlk->nextBlock; /* Reset the first free item */
OsSchedUnlock(); /* Unlock schedule */
return memBlk; /* Return free memory block address */
}
/**
*******************************************************************************
* @brief Free a memory buffer to memory partition
* @param[in] mmID Specify memory partition.
* @param[in] buf Specify memory buffer that want to free.
* @param[out] None
* @retval E_INVALID_ID The memory partition id passed was invalid.
* @retval E_INVALID_PARAMETER The parameter passed was invalid.
* @retval E_OK Free successful.
*
* @par Description
* @details This function is called to Delete a memory partition.
*******************************************************************************
*/
StatusType CoFreeMemoryBuffer(OS_MMID mmID,void* buf)
{
P_MM memCtl;
P_MemBlk memBlk;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(mmID >= CFG_MAX_MM)
{
return E_INVALID_ID;
}
if( ((1<<mmID)&MemoryIDVessel) == 0)
{
return E_INVALID_ID;
}
if(buf == Co_NULL)
{
return E_INVALID_PARAMETER;
}
#endif
memCtl = &MemoryTbl[mmID];
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if((U32)buf < (U32)(memCtl->memAddr))
{
return E_INVALID_PARAMETER;
}
if((U32)buf > (U32)(memCtl->memAddr + memCtl->blockSize*memCtl->blockNum))
{
return E_INVALID_PARAMETER;
}
if(((U32)buf - (U32)(memCtl->memAddr))%(memCtl->blockSize) != 0)
{
return E_INVALID_PARAMETER;
}
#endif
memBlk = (P_MemBlk)buf; /* Reset the first free item */
OsSchedLock();
memBlk->nextBlock = (P_MemBlk)memCtl->freeBlock;
memCtl->freeBlock = buf;
OsSchedUnlock();
return E_OK; /* Return OK */
}
#endif
radio/src/CoOS/kernel/mutex.c
+349
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@@ -0,0 +1,349 @@
/**
*******************************************************************************
* @file mutex.c
* @version V1.1.4
* @date 2011.04.20
* @brief Mutex management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
/*---------------------------- Variable Define -------------------------------*/
#if CFG_MUTEX_EN > 0
OS_MutexID MutexFreeID = 0; /*!< Point to next vliad mutex ID. */
MUTEX MutexTbl[CFG_MAX_MUTEX] = {{0}}; /*!< Mutex struct array */
/**
*******************************************************************************
* @brief Create a mutex
* @param[in] None
* @param[out] None
* @retval E_CREATE_FAIL Create mutex fail.
* @retval others Create mutex successful.
*
* @par Description
* @details This function is called to create a mutex.
* @note
*******************************************************************************
*/
OS_MutexID CoCreateMutex(void)
{
OS_MutexID id;
P_MUTEX pMutex;
OsSchedLock();
/* Assign a free mutex control block */
if(MutexFreeID < CFG_MAX_MUTEX )
{
id = MutexFreeID++;
OsSchedUnlock();
pMutex = &MutexTbl[id];
pMutex->hipriTaskID = INVALID_ID;
pMutex->originalPrio = 0xff;
pMutex->mutexFlag = MUTEX_FREE; /* Mutex is free,not was occupied */
pMutex->taskID = INVALID_ID;
pMutex->waittingList = Co_NULL;
return id; /* Return mutex ID */
}
OsSchedUnlock();
return E_CREATE_FAIL; /* No free mutex control block */
}
/**
*******************************************************************************
* @brief Enter a critical area
* @param[in] mutexID Specify mutex.
* @param[out] None
* @retval E_INVALID_ID Invalid mutex id.
* @retval E_CALL Error call in ISR.
* @retval E_OK Enter critical area successful.
*
* @par Description
* @details This function is called when entering a critical area.
* @note
*******************************************************************************
*/
StatusType CoEnterMutexSection(OS_MutexID mutexID)
{
P_OSTCB ptcb,pCurTcb;
P_MUTEX pMutex;
#if CFG_EVENT_EN >0
P_ECB pecb;
#endif
if(OSIntNesting > 0) /* If the caller is ISR */
{
return E_CALL;
}
if(OSSchedLock != 0) /* Is OS lock? */
{
return E_OS_IN_LOCK; /* Yes,error return */
}
#if CFG_PAR_CHECKOUT_EN >0
if(mutexID >= MutexFreeID) /* Invalid 'mutexID' */
{
return E_INVALID_ID;
}
#endif
OsSchedLock();
pCurTcb = TCBRunning;
pMutex = &MutexTbl[mutexID];
pCurTcb->mutexID = mutexID;
if(pMutex->mutexFlag == MUTEX_FREE) /* If mutex is available */
{
pMutex->originalPrio = pCurTcb->prio; /* Save priority of owning task */
pMutex->taskID = pCurTcb->taskID; /* Acquire the resource */
pMutex->hipriTaskID = pCurTcb->taskID;
pMutex->mutexFlag = MUTEX_OCCUPY; /* Occupy the mutex resource*/
}
/* If the mutex resource had been occupied */
else if(pMutex->mutexFlag == MUTEX_OCCUPY)
{
ptcb = &TCBTbl[pMutex->taskID];
if(ptcb->prio > pCurTcb->prio) /* Need to promote priority of owner? */
{
#if CFG_ORDER_LIST_SCHEDULE_EN ==0
DeleteTaskPri(ptcb->prio);
ActiveTaskPri(pCurTcb->prio);
#endif
ptcb->prio = pCurTcb->prio; /* Promote prio of owner */
/* Upgarde the highest priority about the mutex */
pMutex->hipriTaskID = pCurTcb->taskID;
if(ptcb->state == TASK_READY) /* If the task is ready to run */
{
RemoveFromTCBRdyList(ptcb); /* Remove the task from READY list*/
InsertToTCBRdyList(ptcb); /* Insert the task into READY list*/
}
#if CFG_EVENT_EN >0
/* If the task is waiting on a event */
else if(ptcb->eventID != INVALID_ID)
{
pecb = &EventTbl[ptcb->eventID];
/* If the event waiting type is preemptive Priority */
if(pecb->eventSortType == EVENT_SORT_TYPE_PRIO)
{
/* Remove the task from event waiting list */
RemoveEventWaittingList(ptcb);
/* Insert the task into event waiting list */
EventTaskToWait(pecb,ptcb);
}
}
#endif
}
pCurTcb->state = TASK_WAITING; /* Block current task */
TaskSchedReq = Co_TRUE;
pCurTcb->TCBnext = Co_NULL;
pCurTcb->TCBprev = Co_NULL;
ptcb = pMutex->waittingList;
if(ptcb == Co_NULL) /* If the event waiting list is empty */
{
pMutex->waittingList = pCurTcb; /* Insert the task to head */
}
else /* If the event waiting list is not empty */
{
while(ptcb->TCBnext != Co_NULL) /* Insert the task to tail */
{
ptcb = ptcb->TCBnext;
}
ptcb->TCBnext = pCurTcb;
pCurTcb->TCBprev = ptcb;
pCurTcb->TCBnext = Co_NULL;
}
}
OsSchedUnlock();
return E_OK;
}
/**
*******************************************************************************
* @brief Leave from a critical area
* @param[in] mutexID Specify mutex id.
* @param[out] None
* @retval E_INVALID_ID Invalid mutex id.
* @retval E_CALL Error call in ISR.
* @retval E_OK Exit a critical area successful.
*
* @par Description
* @details This function must be called when exiting from a critical area.
* @note
*******************************************************************************
*/
StatusType CoLeaveMutexSection(OS_MutexID mutexID)
{
P_OSTCB ptcb;
P_MUTEX pMutex;
U8 prio;
U8 taskID;
if(OSIntNesting > 0) /* If the caller is ISR */
{
return E_CALL;
}
#if CFG_PAR_CHECKOUT_EN >0
if(mutexID >= MutexFreeID)
{
return E_INVALID_ID; /* Invalid mutex id, return error */
}
#endif
OsSchedLock();
pMutex = &MutexTbl[mutexID]; /* Obtain point of mutex control block*/
ptcb = &TCBTbl[pMutex->taskID];
ptcb->mutexID = INVALID_ID;
if(pMutex->waittingList == Co_NULL) /* If the mutex waiting list is empty */
{
pMutex->mutexFlag = MUTEX_FREE; /* The mutex resource is available */
pMutex->taskID = INVALID_ID;
OsSchedUnlock();
}
else /* If there is at least one task waitting for the mutex */
{
taskID = pMutex->taskID; /* Get task ID of mutex owner */
/* we havn't promoted current task's priority */
if(pMutex->hipriTaskID == taskID)
{
ptcb = pMutex->waittingList;/* Point to mutex first waiting task */
prio = ptcb->prio;
while(ptcb != Co_NULL) /* Find the highest priority task */
{
if(ptcb->prio < prio)
{
prio = ptcb->prio;
pMutex->hipriTaskID = ptcb->taskID;
}
ptcb = ptcb->TCBnext;
}
}
else /* we have promoted current task's priority */
{
prio = TCBTbl[taskID].prio;
}
/* Reset the task priority */
pMutex->taskID = INVALID_ID;
CoSetPriority(taskID,pMutex->originalPrio);
/* Find first task in waiting list ready to run */
ptcb = pMutex->waittingList;
pMutex->waittingList = ptcb->TCBnext;
pMutex->originalPrio = ptcb->prio;
pMutex->taskID = ptcb->taskID;
#if CFG_ORDER_LIST_SCHEDULE_EN ==0
if(prio != ptcb->prio)
{
DeleteTaskPri(ptcb->prio);
ActiveTaskPri(prio);
}
#endif
ptcb->prio = prio; /* Raise the task's priority */
/* Insert the task which acquire the mutex into ready list. */
ptcb->TCBnext = Co_NULL;
ptcb->TCBprev = Co_NULL;
InsertToTCBRdyList(ptcb); /* Insert the task into the READY list */
OsSchedUnlock();
}
return E_OK;
}
/**
*******************************************************************************
* @brief Remove a task from mutex waiting list
* @param[in] ptcb TCB which will remove out.
* @param[out] None
* @retval None
*
* @par Description
* @details This function be called when delete a task.
* @note
*******************************************************************************
*/
void RemoveMutexList(P_OSTCB ptcb)
{
U8 prio;
OS_TID taskID;
P_MUTEX pMutex;
pMutex = &MutexTbl[ptcb->mutexID];
/* If only one task waiting on mutex */
if((ptcb->TCBnext ==Co_NULL) && (ptcb->TCBprev == Co_NULL))
{
pMutex->waittingList = Co_NULL; /* Waiting list is empty */
}
else if(ptcb->TCBnext == Co_NULL) /* If the task is the last of waiting list*/
{
/* Remove task from mutex waiting list */
ptcb->TCBprev->TCBnext = Co_NULL;
ptcb->TCBprev = Co_NULL;
}
else if(ptcb->TCBprev == Co_NULL)/* If the task is the first of waiting list*/
{
/* Remove task from waiting list */
ptcb->TCBnext->TCBprev = Co_NULL;
ptcb->TCBnext = Co_NULL;
}
else /* If the task is in the middle of waiting list */
{
/* Remove task from wait list */
ptcb->TCBnext->TCBprev = ptcb->TCBprev;
ptcb->TCBprev->TCBnext = ptcb->TCBnext;
ptcb->TCBprev = Co_NULL;
ptcb->TCBnext = Co_NULL;
}
ptcb->mutexID = INVALID_ID;
/* If the task have highest priority in mutex waiting list */
if(pMutex->hipriTaskID == ptcb->taskID)
{
ptcb = pMutex->waittingList;
prio = pMutex->originalPrio;
pMutex->hipriTaskID = pMutex->taskID;
while(ptcb != Co_NULL) /* Find task ID of highest priority task*/
{
if(ptcb->prio < prio)
{
prio = ptcb->prio;
pMutex->hipriTaskID = ptcb->taskID;
}
ptcb = ptcb->TCBnext;
}
taskID = pMutex->taskID;
pMutex->taskID = INVALID_ID;
CoSetPriority(taskID,prio); /* Reset the mutex ower priority */
pMutex->taskID = taskID;
}
}
#endif
radio/src/CoOS/kernel/queue.c
+393
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@@ -0,0 +1,393 @@
/**
*******************************************************************************
* @file queue.c
* @version V1.1.4
* @date 2011.04.20
* @brief Queue management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_QUEUE_EN > 0
/*---------------------------- Variable Define -------------------------------*/
QCB QueueTbl[CFG_MAX_QUEUE] = {{0}}; /*!< Queue control block table */
U32 QueueIDVessel = 0; /*!< Queue list mask */
/**
*******************************************************************************
* @brief Create a queue
* @param[in] qStart Pointer to mail pointer buffer.
* @param[in] size The length of queue.
* @param[in] sortType Mail queue waiting list sort type.
* @param[out] None
* @retval E_CREATE_FAIL Create queue fail.
* @retval others Create queue successful.
*
* @par Description
* @details This function is called to create a queue.
* @note
*******************************************************************************
*/
OS_EventID CoCreateQueue(void **qStart, U16 size ,U8 sortType)
{
U8 i;
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if((qStart == Co_NULL) || (size == 0))
{
return E_CREATE_FAIL;
}
#endif
OsSchedLock();
for(i = 0; i < CFG_MAX_QUEUE; i++)
{
/* Assign a free QUEUE control block */
if((QueueIDVessel & (1 << i)) == 0)
{
QueueIDVessel |= (1<<i);
OsSchedUnlock();
QueueTbl[i].qStart = qStart; /* Initialize the queue */
QueueTbl[i].id = i;
QueueTbl[i].head = 0;
QueueTbl[i].tail = 0;
QueueTbl[i].qMaxSize = size;
QueueTbl[i].qSize = 0;
/* Get a event control block and initial the event content */
pecb = CreatEvent(EVENT_TYPE_QUEUE,sortType,&QueueTbl[i]);
if(pecb == Co_NULL ) /* If there is no free EVENT control block*/
{
return E_CREATE_FAIL;
}
return (pecb->id);
}
}
OsSchedUnlock();
return E_CREATE_FAIL; /* There is no free QUEUE control block */
}
/**
*******************************************************************************
* @brief Delete a queue
* @param[in] id Event ID.
* @param[in] opt Delete option.
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_INVALID_PARAMETER Invalid parameter.
* @retval E_TASK_WAITTING Tasks waitting for the event,delete fail.
* @retval E_OK Event deleted successful.
*
* @par Description
* @details This function is called to delete a queue.
* @note
*******************************************************************************
*/
StatusType CoDelQueue(OS_EventID id,U8 opt)
{
P_ECB pecb;
P_QCB pqcb;
StatusType err;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID; /* Invalid id,return error */
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if( pecb->eventType != EVENT_TYPE_QUEUE)
{
return E_INVALID_ID; /* The event is not queue,return error*/
}
#endif
pqcb = (P_QCB)pecb->eventPtr; /* Point at queue control block */
err = DeleteEvent(pecb,opt); /* Delete the event control block */
if(err == E_OK) /* If the event block have been deleted */
{
QueueIDVessel &= ~((U32)(1<<(pqcb->id))); /* Update free queue list */
pqcb->qStart = Co_NULL;
pqcb->id = 0;
pqcb->head = 0;
pqcb->tail = 0;
pqcb->qMaxSize = 0;
pqcb->qSize = 0;
}
return err;
}
/**
*******************************************************************************
* @brief Accept a mail from queue
* @param[in] id Event ID.
* @param[out] perr A pointer to error code.
* @retval Co_NULL
* @retval A pointer to mail accepted.
*
* @par Description
* @details This function is called to accept a mail from queue.
* @note
*******************************************************************************
*/
void* CoAcceptQueueMail(OS_EventID id,StatusType* perr)
{
P_ECB pecb;
P_QCB pqcb;
void* pmail;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
*perr = E_INVALID_ID; /* Invalid id,return error */
return Co_NULL;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_QUEUE)/* Invalid event control block type*/
{
*perr = E_INVALID_ID;
return Co_NULL;
}
#endif
pqcb = (P_QCB)pecb->eventPtr; /* Point at queue control block */
OsSchedLock();
if(pqcb->qSize != 0) /* If there are any messages in the queue */
{
/* Extract oldest message from the queue */
pmail = *(pqcb->qStart + pqcb->head);
pqcb->head++; /* Update the queue head */
pqcb->qSize--; /* Update the number of messages in the queue */
if(pqcb->head == pqcb->qMaxSize)
{
pqcb->head = 0;
}
OsSchedUnlock();
*perr = E_OK;
return pmail; /* Return message received */
}
else /* If there is no message in the queue*/
{
OsSchedUnlock();
*perr = E_QUEUE_EMPTY;
return Co_NULL; /* Return Co_NULL */
}
}
/**
*******************************************************************************
* @brief Pend for a mail
* @param[in] id Event ID.
* @param[in] timeout The longest time for writting mail.
* @param[out] perr A pointer to error code.
* @retval Co_NULL
* @retval A pointer to mail accept.
*
* @par Description
* @details This function is called to wait for a mail.
* @note
*******************************************************************************
*/
void* CoPendQueueMail(OS_EventID id,U32 timeout,StatusType* perr)
{
P_ECB pecb;
P_QCB pqcb;
P_OSTCB curTCB;
void* pmail;
if(OSIntNesting > 0) /* If the caller is ISR */
{
*perr = E_CALL;
return Co_NULL;
}
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
*perr = E_INVALID_ID; /* Invalid event id,return error */
return Co_NULL;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_QUEUE) /* The event type is not queue */
{
*perr = E_INVALID_ID;
return Co_NULL;
}
#endif
if(OSSchedLock != 0) /* Judge schedule is locked or not? */
{
*perr = E_OS_IN_LOCK; /* Schedule is locked,return error */
return Co_NULL;
}
pqcb = (P_QCB)pecb->eventPtr; /* Point at queue control block */
OsSchedLock();
if(pqcb->qSize != 0) /* If there are any messages in the queue */
{
/* Extract oldest message from the queue */
pmail = *(pqcb->qStart + pqcb->head);
pqcb->head++; /* Update the queue head */
pqcb->qSize--; /* Update the number of messages in the queue */
if(pqcb->head == pqcb->qMaxSize)/* Check queue head */
{
pqcb->head = 0;
}
OsSchedUnlock();
*perr = E_OK;
return pmail; /* Return message received */
}
else /* If there is no message in the queue*/
{
OsSchedUnlock();
curTCB = TCBRunning;
if(timeout == 0) /* If time-out is not configured */
{
/* Block current task until the event occur */
EventTaskToWait(pecb,curTCB);
/* Have recived message or the queue have been deleted */
pmail = curTCB->pmail;
curTCB->pmail = Co_NULL;
*perr = E_OK;
return pmail; /* Return message received or Co_NULL */
}
else /* If time-out is configured */
{
OsSchedLock();
/* Block current task until event or timeout occurs */
EventTaskToWait(pecb,curTCB);
InsertDelayList(curTCB,timeout);
OsSchedUnlock();
if(curTCB->pmail == Co_NULL) /* If time-out occurred */
{
*perr = E_TIMEOUT;
return Co_NULL;
}
else /* If event occured */
{
pmail = curTCB->pmail;
curTCB->pmail = Co_NULL;
*perr = E_OK;
return pmail; /* Return message received or Co_NULL */
}
}
}
}
/**
*******************************************************************************
* @brief Post a mail to queue
* @param[in] id Event ID.
* @param[in] pmail Pointer to mail that want to send.
* @param[out] None
* @retval E_OK
* @retval E_INVALID_ID
* @retval E_QUEUE_FULL
*
* @par Description
* @details This function is called to post a mail to queue.
* @note
*******************************************************************************
*/
StatusType CoPostQueueMail(OS_EventID id,void* pmail)
{
P_ECB pecb;
P_QCB pqcb;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_QUEUE)
{
return E_INVALID_ID; /* The event type isn't queue,return */
}
#endif
pqcb = (P_QCB)pecb->eventPtr;
if(pqcb->qSize == pqcb->qMaxSize) /* If queue is full */
{
return E_QUEUE_FULL;
}
else /* If queue is not full */
{
OsSchedLock();
*(pqcb->qStart + pqcb->tail) = pmail; /* Insert message into queue */
pqcb->tail++; /* Update queue tail */
pqcb->qSize++; /* Update the number of messages in the queue */
if(pqcb->tail == pqcb->qMaxSize) /* Check queue tail */
{
pqcb->tail = 0;
}
EventTaskToRdy(pecb); /* Check the event waiting list */
OsSchedUnlock();
return E_OK;
}
}
/**
*******************************************************************************
* @brief Post a mail to queue in ISR
* @param[in] id Event ID.
* @param[in] pmail Pointer to mail that want to send.
* @param[out] None
* @retval E_OK
* @retval E_INVALID_ID
* @retval E_QUEUE_FULL
*
* @par Description
* @details This function is called in ISR to post a mail to queue.
* @note
*******************************************************************************
*/
#if CFG_MAX_SERVICE_REQUEST > 0
StatusType isr_PostQueueMail(OS_EventID id,void* pmail)
{
if(OSSchedLock > 0) /* If scheduler is locked,(the caller is ISR) */
{
/* Insert the request into service request queue */
if(InsertInSRQ(QUEUE_REQ,id,pmail) == Co_FALSE)
{
return E_SEV_REQ_FULL; /* If service request queue is full */
}
else /* If the request have been inserted into service request queue */
{
return E_OK;
}
}
else /* The scheduler is unlocked */
{
return(CoPostQueueMail(id,pmail)); /* Send the message to the queue*/
}
}
#endif
#endif
radio/src/CoOS/kernel/sem.c
+322
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@@ -0,0 +1,322 @@
/**
*******************************************************************************
* @file sem.c
* @version V1.1.4
* @date 2011.04.20
* @brief Semaphore management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_SEM_EN >0
/**
*******************************************************************************
* @brief Create a semaphore
* @param[in] initCnt Semaphore valid counter.
* @param[in] maxCnt Semaphore max initialize counter.
* @param[in] sortType Semaphore sort type.
* @param[out] None
* @retval E_CREATE_FAIL Create semaphore fail.
* @retval others Create semaphore successful.
*
* @par Description
* @details This function is called to create a semaphore.
*******************************************************************************
*/
OS_EventID CoCreateSem(U16 initCnt,U16 maxCnt,U8 sortType)
{
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if(initCnt > maxCnt)
{
return E_CREATE_FAIL; /* Invalid 'initCnt' or 'maxCnt' */
}
if ((sortType != EVENT_SORT_TYPE_FIFO) && (sortType != EVENT_SORT_TYPE_PRIO))
{
return E_CREATE_FAIL; /* Illegal sort type,return error */
}
#endif
/* Create a semaphore type event control block */
pecb = CreatEvent(EVENT_TYPE_SEM,sortType,Co_NULL);
if(pecb == Co_NULL) /* If failed to create event block */
{
return E_CREATE_FAIL;
}
pecb->eventCounter = initCnt;/* Initialize event block */
pecb->initialEventCounter = maxCnt;
return (pecb->id); /* Return event id */
}
/**
*******************************************************************************
* @brief Delete a semaphore
* @param[in] id Event ID which to be deleted.
* @param[in] opt Delete option.
* @arg == OPT_DEL_ANYWAY Delete semaphore always
* @arg == OPT_DEL_NO_PEND Delete semaphore only when no task pending on.
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_INVALID_PARAMETER Invalid parameter.
* @retval E_TASK_WAITTING Tasks waitting for the event,delete fail.
* @retval E_OK Event deleted successful.
*
* @par Description
* @details This function is called to delete a semaphore.
*
* @note
*******************************************************************************
*/
StatusType CoDelSem(OS_EventID id,U8 opt)
{
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_SEM)
{
return E_INVALID_ID; /* The event type is not semaphore */
}
#endif
return (DeleteEvent(pecb,opt));/* Delete the semaphore event control block*/
}
/**
*******************************************************************************
* @brief Accept a semaphore without waitting
* @param[in] id Event ID
* @param[out] None
* @retval E_INVALID_ID Invalid event ID.
* @retval E_SEM_EMPTY No semaphore exist.
* @retval E_OK Get semaphore successful.
*
* @par Description
* @details This function is called accept a semaphore without waitting.
*******************************************************************************
*/
StatusType CoAcceptSem(OS_EventID id)
{
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if( pecb->eventType != EVENT_TYPE_SEM)
{
return E_INVALID_ID;
}
#endif
OsSchedLock();
if(pecb->eventCounter > 0) /* If semaphore is positive,resource available */
{
OsSchedUnlock();
pecb->eventCounter--; /* Decrement semaphore only if positive */
return E_OK;
}
else /* Resource is not available */
{
OsSchedUnlock();
return E_SEM_EMPTY;
}
}
/**
*******************************************************************************
* @brief wait for a semaphore
* @param[in] id Event ID.
* @param[in] timeout The longest time for writting semaphore.
* @para 0
* @para 0x1~0xff
* @param[out] None
* @retval E_CALL Error call in ISR.
* @retval E_INVALID_ID Invalid event ID.
* @retval E_TIMEOUT Semaphore was not received within the specified
* 'timeout' time.
* @retval E_OK The call was successful and your task owns the
* resource,or the event you are waiting for occurred.
*
* @par Description
* @details This function is called to waits for a semaphore.
* @note IF this function is called in ISR,nothing to do and return immediately.
*******************************************************************************
*/
StatusType CoPendSem(OS_EventID id,U32 timeout)
{
P_ECB pecb;
P_OSTCB curTCB;
if(OSIntNesting > 0) /* If the caller is ISR */
{
return E_CALL;
}
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_SEM)
{
return E_INVALID_ID;
}
#endif
if(OSSchedLock != 0) /* Schdule is locked? */
{
return E_OS_IN_LOCK; /* Yes,error return */
}
OsSchedLock();
if(pecb->eventCounter > 0) /* If semaphore is positive,resource available */
{
pecb->eventCounter--; /* Decrement semaphore only if positive */
OsSchedUnlock();
return E_OK;
}
else /* Resource is not available */
{
OsSchedUnlock();
curTCB = TCBRunning;
if(timeout == 0) /* If time-out is not configured */
{
EventTaskToWait(pecb,curTCB); /* Block task until event occurs */
curTCB->pmail = Co_NULL;
return E_OK;
}
else /* If time-out is configured */
{
OsSchedLock();
/* Block task until event or timeout occurs */
EventTaskToWait(pecb,curTCB);
InsertDelayList(curTCB,timeout);
OsSchedUnlock();
if (curTCB->pmail == Co_NULL) /* If pmail is Co_NULL, time-out occurred*/
{
return E_TIMEOUT;
}
else /* Event occurred or event have been deleted*/
{
curTCB->pmail = Co_NULL;
return E_OK;
}
}
}
}
/**
*******************************************************************************
* @brief Post a semaphore
* @param[in] id id of event control block associated with the desired semaphore.
* @param[out] None
* @retval E_INVALID_ID Parameter id passed was invalid event ID.
* @retval E_SEM_FULL Semaphore full.
* @retval E_OK Semaphore had post successful.
*
* @par Description
* @details This function is called to post a semaphore to corresponding event.
*
* @note
*******************************************************************************
*/
StatusType CoPostSem(OS_EventID id)
{
P_ECB pecb;
#if CFG_PAR_CHECKOUT_EN >0
if(id >= CFG_MAX_EVENT)
{
return E_INVALID_ID;
}
#endif
pecb = &EventTbl[id];
#if CFG_PAR_CHECKOUT_EN >0
if(pecb->eventType != EVENT_TYPE_SEM) /* Invalid event control block type */
{
return E_INVALID_ID;
}
#endif
/* Make sure semaphore will not overflow */
if(pecb->eventCounter == pecb->initialEventCounter)
{
return E_SEM_FULL; /* The counter of Semaphore reach the max number*/
}
OsSchedLock();
pecb->eventCounter++; /* Increment semaphore count to register event */
EventTaskToRdy(pecb); /* Check semaphore event waiting list */
OsSchedUnlock();
return E_OK;
}
/**
*******************************************************************************
* @brief Post a semaphore in ISR
* @param[in] id identifier of event control block associated with the
* desired semaphore.
* @param[out] None
* @retval E_INVALID_ID Parameter id passed was invalid event ID.
* @retval E_NO_TASK_WAITTING There are one more tasks waitting for the event.
* @retval E_OK Semaphore had signaled successful.
*
* @par Description
* @details This function is called in ISR to post a semaphore to corresponding
* event.
* @note
*******************************************************************************
*/
#if CFG_MAX_SERVICE_REQUEST > 0
StatusType isr_PostSem(OS_EventID id)
{
if(OSSchedLock > 0) /* If scheduler is locked,(the caller is ISR) */
{
/* Initiate a post service handling request */
if(InsertInSRQ(SEM_REQ,id,Co_NULL) == Co_FALSE)
{
return E_SEV_REQ_FULL; /* If service request queue is full */
}
else /* Operate successfully */
{
return E_OK;
}
}
else
{
return(CoPostSem(id)); /* Post semaphore */
}
}
#endif
#endif
radio/src/CoOS/kernel/serviceReq.c
+165
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@@ -0,0 +1,165 @@
/**
*******************************************************************************
* @file serviceReq.c
* @version V1.1.4
* @date 2011.04.20
* @brief servive request management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if (CFG_TASK_WAITTING_EN > 0) || (CFG_TMR_EN >0)
#if CFG_MAX_SERVICE_REQUEST > 0
/*---------------------------- Variable Define -------------------------------*/
SRQ ServiceReq = {0,0}; /*!< ISR server request queue */
#endif
BOOL IsrReq = Co_FALSE;
#if (CFG_TASK_WAITTING_EN > 0)
BOOL TimeReq = Co_FALSE; /*!< Time delay dispose request */
#endif
#if CFG_TMR_EN > 0
BOOL TimerReq = Co_FALSE; /*!< Timer dispose request */
#endif
/**
*******************************************************************************
* @brief Insert into service requst queue
* @param[in] type Service request type.
* @param[in] id Service request event id,event id/flag id.
* @param[in] arg Service request argument.
* @param[out] None
*
* @retval Co_FALSE Successfully insert into service request queue.
* @retval Co_TRUE Failure to insert into service request queue.
*
* @par Description
* @details This function be called to insert a requst into service request
* queue.
* @note
*******************************************************************************
*/
#if (CFG_MAX_SERVICE_REQUEST > 0)
BOOL InsertInSRQ(U8 type,U8 id,void* arg)
{
P_SQC pcell;
U8 cnt;
U8 heed;
IRQ_DISABLE_SAVE();
if (ServiceReq.cnt >= CFG_MAX_SERVICE_REQUEST)
{
IRQ_ENABLE_RESTORE ();
return Co_FALSE; /* Error return */
}
cnt = Inc8(&ServiceReq.cnt);
heed = ServiceReq.head;
IsrReq = Co_TRUE;
pcell = &ServiceReq.cell[((cnt+heed)%CFG_MAX_SERVICE_REQUEST)];/*the tail */
pcell->type = type; /* Save service request type, */
pcell->id = id; /* event id */
pcell->arg = arg; /* and parameter */
IRQ_ENABLE_RESTORE ();
return Co_TRUE; /* Return OK */
}
#endif
/**
*******************************************************************************
* @brief Respond the request in the service request queue.
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function be called to respond the request in the service
* request queue.
* @note
*******************************************************************************
*/
void RespondSRQ(void)
{
#if CFG_MAX_SERVICE_REQUEST > 0
SQC cell;
#endif
#if (CFG_TASK_WAITTING_EN > 0)
if(TimeReq == Co_TRUE) /* Time delay request? */
{
TimeDispose(); /* Yes,call handler */
TimeReq = Co_FALSE; /* Reset time delay request Co_FALSE */
}
#endif
#if CFG_TMR_EN > 0
if(TimerReq == Co_TRUE) /* Timer request? */
{
TmrDispose(); /* Yes,call handler */
TimerReq = Co_FALSE; /* Reset timer request Co_FALSE */
}
#endif
#if CFG_MAX_SERVICE_REQUEST > 0
while (ServiceReq.cnt != 0)
{
IRQ_DISABLE_SAVE (); /* need to protect the following */
cell = ServiceReq.cell[ServiceReq.head]; /* extract one cell */
ServiceReq.head = (ServiceReq.head + 1) % /* move head (pop) */
CFG_MAX_SERVICE_REQUEST;
ServiceReq.cnt--;
IRQ_ENABLE_RESTORE (); /* now use the cell copy */
switch(cell.type) /* Judge service request type */
{
#if CFG_SEM_EN > 0
case SEM_REQ: /* Semaphore post request,call handler*/
CoPostSem(cell.id);
break;
#endif
#if CFG_MAILBOX_EN > 0
case MBOX_REQ: /* Mailbox post request,call handler */
CoPostMail(cell.id, cell.arg);
break;
#endif
#if CFG_FLAG_EN > 0
case FLAG_REQ: /* Flag set request,call handler */
CoSetFlag(cell.id);
break;
#endif
#if CFG_QUEUE_EN > 0
case QUEUE_REQ: /* Queue post request,call handler */
CoPostQueueMail(cell.id, cell.arg);
break;
#endif
default: /* Others,break */
break;
}
}
#endif
IRQ_DISABLE_SAVE (); /* need to protect the following */
if (ServiceReq.cnt == 0) /* another item in the queue already? */
{
IsrReq = Co_FALSE; /* queue still empty here */
}
IRQ_ENABLE_RESTORE (); /* now it is done and return */
}
#endif
radio/src/CoOS/kernel/task.c
+1260
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File diff suppressed because it is too large Load Diff
radio/src/CoOS/kernel/time.c
+376
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@@ -0,0 +1,376 @@
/**
*******************************************************************************
* @file time.c
* @version V1.1.4
* @date 2011.04.20
* @brief time management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_TASK_WAITTING_EN > 0
/*---------------------------- Variable Define -------------------------------*/
P_OSTCB DlyList = Co_NULL; /*!< Header pointer to the DELAY list.*/
/**
*******************************************************************************
* @brief Insert into DELAY list
*
* @param[in] ptcb Task that want to insert into DELAY list.
* @param[in] ticks Delay system ticks.
* @param[out] None
* @retval None.
*
* @par Description
* @details This function is called to insert task into DELAY list.
*******************************************************************************
*/
void InsertDelayList(P_OSTCB ptcb,U32 ticks)
{
S32 deltaTicks;
P_OSTCB dlyNext;
if(ticks == 0) /* Is delay tick == 0? */
return; /* Yes,do nothing,return */
if(DlyList == Co_NULL) /* Is no item in DELAY list? */
{
ptcb->delayTick = ticks; /* Yes,set this as first item */
DlyList = ptcb;
}
else
{
/* No,find correct place ,and insert the task */
dlyNext = DlyList;
deltaTicks = ticks; /* Get task delay ticks */
/* Find correct place */
while(dlyNext != Co_NULL)
{
/* Get delta ticks with previous item */
deltaTicks -= dlyNext->delayTick;
if(deltaTicks < 0) /* Is delta ticks<0? */
{
/* Yes,get correct place */
if(dlyNext->TCBprev != Co_NULL) /* Is head item of DELAY list? */
{
dlyNext->TCBprev->TCBnext = ptcb; /* No,insert into */
ptcb->TCBprev = dlyNext->TCBprev;
ptcb->TCBnext = dlyNext;
dlyNext->TCBprev = ptcb;
}
else /* Yes,set task as first item */
{
ptcb->TCBnext = DlyList;
DlyList->TCBprev = ptcb;
DlyList = ptcb;
}
ptcb->delayTick = ptcb->TCBnext->delayTick+deltaTicks;
ptcb->TCBnext->delayTick -= ptcb->delayTick;
break;
}
/* Is last item in DELAY list? */
else if((deltaTicks >= 0) && (dlyNext->TCBnext == Co_NULL) )
{
ptcb->TCBprev = dlyNext; /* Yes,insert into */
dlyNext->TCBnext = ptcb;
ptcb->delayTick = deltaTicks;
break;
}
dlyNext = dlyNext->TCBnext; /* Get the next item in DELAY list */
}
}
ptcb->state = TASK_WAITING; /* Set task status as TASK_WAITING */
TaskSchedReq = Co_TRUE;
}
/**
*******************************************************************************
* @brief Remove from the DELAY list
* @param[in] ptcb Task that want to remove from the DELAY list.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to remove task from the DELAY list.
*******************************************************************************
*/
void RemoveDelayList(P_OSTCB ptcb)
{
/* Is there only one item in the DELAY list? */
if((ptcb->TCBprev == Co_NULL) && ( ptcb->TCBnext == Co_NULL))
{
DlyList = Co_NULL; /* Yes,set DELAY list as Co_NULL */
}
else if(ptcb->TCBprev == Co_NULL) /* Is the first item in DELAY list? */
{
/* Yes,remove task from the DELAY list,and reset the list */
DlyList = ptcb->TCBnext;
ptcb->TCBnext->delayTick += ptcb->delayTick;
ptcb->TCBnext->TCBprev = Co_NULL;
ptcb->TCBnext = Co_NULL;
}
else if(ptcb->TCBnext == Co_NULL) /* Is the last item in DELAY list? */
{
ptcb->TCBprev->TCBnext = Co_NULL; /* Yes,remove task form DELAY list */
ptcb->TCBprev = Co_NULL;
}
else /* No, remove task from DELAY list */
{
ptcb->TCBprev->TCBnext = ptcb->TCBnext;
ptcb->TCBnext->TCBprev = ptcb->TCBprev;
ptcb->TCBnext->delayTick += ptcb->delayTick;
ptcb->TCBnext = Co_NULL;
ptcb->TCBprev = Co_NULL;
}
ptcb->delayTick = INVALID_VALUE; /* Set task delay tick value as invalid */
}
/**
*******************************************************************************
* @brief Get current ticks
* @param[in] None
* @param[out] None
* @retval Return current system tick counter.
*
* @par Description
* @details This function is called to obtain current system tick counter.
*******************************************************************************
*/
U64 CoGetOSTime(void)
{
return OSTickCnt; /* Get system time(tick) */
}
/**
*******************************************************************************
* @brief Delay current task for specify ticks number
* @param[in] ticks Specify system tick number which will delay.
* @param[out] None
* @retval E_CALL Error call in ISR.
* @retval E_OK The current task was insert to DELAY list successful,it
* will delay specify time.
* @par Description
* @details This function delay specify ticks for current task.
*
* @note This function be called in ISR,do nothing and return immediately.
*******************************************************************************
*/
StatusType CoTickDelay(U32 ticks)
{
if(OSIntNesting >0) /* Is call in ISR? */
{
return E_CALL; /* Yes,error return */
}
if(ticks == INVALID_VALUE) /* Is tick==INVALID_VALUE? */
{
return E_INVALID_PARAMETER; /* Yes,error return */
}
if(ticks == 0) /* Is tick==0? */
{
return E_OK; /* Yes,do nothing ,return OK */
}
if(OSSchedLock != 0) /* Is OS lock? */
{
return E_OS_IN_LOCK; /* Yes,error return */
}
OsSchedLock(); /* Lock schedule */
InsertDelayList(TCBRunning,ticks); /* Insert task in DELAY list */
OsSchedUnlock(); /* Unlock schedule,and call task schedule */
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Reset task delay ticks
* @param[in] ptcb Task that want to insert into DELAY list.
* @param[in] ticks Specify system tick number which will delay .
* @param[out] None
* @retval E_CALL Error call in ISR.
* @retval E_INVALID_ID Invalid task id.
* @retval E_NOT_IN_DELAY_LIST Task not in delay list.
* @retval E_OK The current task was inserted to DELAY list
* successful,it will delay for specify time.
* @par Description
* @details This function delay specify ticks for current task.
*******************************************************************************
*/
StatusType CoResetTaskDelayTick(OS_TID taskID,U32 ticks)
{
P_OSTCB ptcb;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
{
return E_INVALID_ID;
}
#endif
ptcb = &TCBTbl[taskID];
#if CFG_PAR_CHECKOUT_EN >0
if(ptcb->stkPtr == Co_NULL)
{
return E_INVALID_ID;
}
#endif
if(ptcb->delayTick == INVALID_VALUE) /* Is tick==INVALID_VALUE? */
{
return E_NOT_IN_DELAY_LIST; /* Yes,error return */
}
OsSchedLock(); /* Lock schedule */
RemoveDelayList(ptcb); /* Remove task from the DELAY list */
if(ticks == 0) /* Is delay tick==0? */
{
InsertToTCBRdyList(ptcb); /* Insert task into the DELAY list */
}
else
{
InsertDelayList(ptcb,ticks); /* No,insert task into DELAY list */
}
OsSchedUnlock(); /* Unlock schedule,and call task schedule */
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Delay current task for detail time
* @param[in] hour Specify the number of hours.
* @param[in] minute Specify the number of minutes.
* @param[in] sec Specify the number of seconds.
* @param[in] millsec Specify the number of millseconds.
* @param[out] None
* @retval E_CALL Error call in ISR.
* @retval E_INVALID_PARAMETER Parameter passed was invalid,delay fail.
* @retval E_OK The current task was inserted to DELAY list
* successful,it will delay for specify time.
* @par Description
* @details This function delay specify time for current task.
*
* @note If this function called in ISR,do nothing and return immediately.
*******************************************************************************
*/
#if CFG_TIME_DELAY_EN >0
StatusType CoTimeDelay(U8 hour,U8 minute,U8 sec,U16 millsec)
{
U32 ticks;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(OSIntNesting > 0)
{
return E_CALL;
}
if((minute > 59)||(sec > 59)||(millsec > 999))
return E_INVALID_PARAMETER;
#endif
if(OSSchedLock != 0) /* Is OS lock? */
{
return E_OS_IN_LOCK; /* Yes,error return */
}
/* Get tick counter from time */
ticks = ((hour*3600) + (minute*60) + (sec)) * (CFG_SYSTICK_FREQ)\
+ (millsec*CFG_SYSTICK_FREQ + 500)/1000;
CoTickDelay(ticks); /* Call tick delay */
return E_OK; /* Return OK */
}
#endif
/**
*******************************************************************************
* @brief Dispose time delay
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to dispose time delay of all task.
*******************************************************************************
*/
void TimeDispose(void)
{
P_OSTCB dlyList;
dlyList = DlyList; /* Get first item of DELAY list */
while((dlyList != Co_NULL) && (dlyList->delayTick == 0) )
{
#if CFG_EVENT_EN > 0
if(dlyList->eventID != INVALID_ID) /* Is task in event waiting list? */
{
RemoveEventWaittingList(dlyList); /* Yes,remove task from list */
}
#endif
#if CFG_FLAG_EN > 0
if(dlyList->pnode != Co_NULL) /* Is task in flag waiting list? */
{
RemoveLinkNode(dlyList->pnode); /* Yes,remove task from list */
}
#endif
dlyList->delayTick = INVALID_VALUE; /* Set delay tick value as invalid*/
DlyList = dlyList->TCBnext; /* Get next item as the head of DELAY list*/
dlyList->TCBnext = Co_NULL;
InsertToTCBRdyList(dlyList); /* Insert task into READY list */
dlyList = DlyList; /* Get the first item of DELAY list */
if(dlyList != Co_NULL) /* Is DELAY list as Co_NULL? */
{
dlyList->TCBprev = Co_NULL; /* No,initialize the first item */
}
}
}
/**
*******************************************************************************
* @brief Dispose time delay in ISR
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called in systick interrupt to dispose time delay
* of all task.
*******************************************************************************
*/
void isr_TimeDispose(void)
{
if(OSSchedLock > 1) /* Is schedule lock? */
{
IsrReq = Co_TRUE;
TimeReq = Co_TRUE; /* Yes,set time request Co_TRUE */
}
else
{
TimeDispose(); /* No,call handler */
}
}
#endif
radio/src/CoOS/kernel/timer.c
+447
View File
@@ -0,0 +1,447 @@
/**
*******************************************************************************
* @file timer.c
* @version V1.1.4
* @date 2011.04.20
* @brief timer management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
/*---------------------------- Variable Define -------------------------------*/
#if CFG_TMR_EN > 0
TmrCtrl TmrTbl[CFG_MAX_TMR]= {{0}};/*!< Table which save timer control block.*/
P_TmrCtrl TmrList = Co_NULL; /*!< The header of the TmrCtrl list. */
U32 TmrIDVessel = 0; /*!< Timer ID container. */
/**
*******************************************************************************
* @brief Insert a timer into the timer list
* @param[in] tmrID Specify timer ID which insertted.
* @param[out] None
* @retval E_INVALID_ID Timer ID passed was invalid,insert fail.
* @retval E_OK Insert successful.
*
* @par Description
* @details This function is called to insert a timer into the timer list.
*******************************************************************************
*/
static void InsertTmrList(OS_TCID tmrID)
{
P_TmrCtrl pTmr;
S32 deltaTicks;
U32 tmrCnt;
tmrCnt = TmrTbl[tmrID].tmrCnt; /* Get timer time */
if(tmrCnt == 0) /* Is timer time==0? */
{
return; /* Do nothing,return */
}
OsSchedLock(); /* Lock schedule */
if(TmrList == Co_NULL) /* Is no item in timer list? */
{
TmrList = &TmrTbl[tmrID]; /* Yes,set this as first item */
}
else /* No,find correct place ,and insert inserted timer */
{
pTmr = TmrList;
deltaTicks = tmrCnt; /* Get timer tick */
/* find correct place */
while(pTmr != Co_NULL)
{
deltaTicks -= pTmr->tmrCnt; /* Get ticks with previous item */
if(deltaTicks < 0) /* Is delta ticks<0? */
{
/* Yes,get correct place */
if(pTmr->tmrPrev!= Co_NULL)/* Is head item of timer list? */
{
/* No,insert into */
pTmr->tmrPrev->tmrNext = &TmrTbl[tmrID];
TmrTbl[tmrID].tmrPrev = pTmr->tmrPrev;
TmrTbl[tmrID].tmrNext = pTmr;
pTmr->tmrPrev = &TmrTbl[tmrID];
}
else /* Yes,set task as first item */
{
TmrTbl[tmrID].tmrNext = TmrList;
TmrList->tmrPrev = &TmrTbl[tmrID];
TmrList = &TmrTbl[tmrID];
}
TmrTbl[tmrID].tmrCnt = TmrTbl[tmrID].tmrNext->tmrCnt+deltaTicks;
TmrTbl[tmrID].tmrNext->tmrCnt -= TmrTbl[tmrID].tmrCnt;
break;
}
/* Is last item in list? */
else if((deltaTicks >= 0) && (pTmr->tmrNext == Co_NULL))
{
/* Yes,insert into */
TmrTbl[tmrID].tmrPrev = pTmr;
pTmr->tmrNext = &TmrTbl[tmrID];
TmrTbl[tmrID].tmrCnt = deltaTicks;
break;
}
pTmr = pTmr->tmrNext; /* Get the next item in timer list */
}
}
OsSchedUnlock(); /* Unlock schedule */
}
/**
*******************************************************************************
* @brief Remove a timer from the timer list
* @param[in] tmrID Specify ID for a timer which removed form timer list.
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to remove a timer from the timer list.
*******************************************************************************
*/
static void RemoveTmrList(OS_TCID tmrID)
{
P_TmrCtrl pTmr;
pTmr = &TmrTbl[tmrID];
OsSchedLock(); /* Lock schedule */
/* Is there only one item in timer list? */
if((pTmr->tmrPrev == Co_NULL) && (pTmr->tmrNext == Co_NULL))
{
TmrList = Co_NULL; /* Yes,set timer list as Co_NULL */
}
else if(pTmr->tmrPrev == Co_NULL) /* Is the first item in timer list? */
{ /* Yes,remove timer from list,and reset timer list */
TmrList = pTmr->tmrNext;
TmrList->tmrPrev = Co_NULL;
pTmr->tmrNext->tmrCnt += pTmr->tmrCnt;
pTmr->tmrNext = Co_NULL;
}
else if(pTmr->tmrNext == Co_NULL) /* Is the last item in timer list? */
{
/* Yes,remove timer form list */
pTmr->tmrPrev->tmrNext = Co_NULL;
pTmr->tmrPrev = Co_NULL;
}
else /* No, remove timer from list */
{
pTmr->tmrPrev->tmrNext = pTmr->tmrNext;
pTmr->tmrNext->tmrPrev = pTmr->tmrPrev;
pTmr->tmrNext->tmrCnt += pTmr->tmrCnt;
pTmr->tmrNext = Co_NULL;
pTmr->tmrPrev = Co_NULL;
}
OsSchedUnlock(); /* Unlock schedule */
}
/**
*******************************************************************************
* @brief Create a timer
* @param[in] tmrType Specify timer's type.
* @param[in] tmrCnt Specify timer initial counter value.
* @param[in] tmrReload Specify timer reload value.
* @param[in] func Specify timer callback function entry.
* @param[out] None
* @retval E_CREATE_FAIL Create timer fail.
* @retval others Create timer successful.
*
* @par Description
* @details This function is called to create a timer.
*******************************************************************************
*/
OS_TCID CoCreateTmr(U8 tmrType, U32 tmrCnt, U32 tmrReload, vFUNCPtr func)
{
U8 i;
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if((tmrType != TMR_TYPE_ONE_SHOT) && (tmrType != TMR_TYPE_PERIODIC))
{
return E_CREATE_FAIL;
}
if(func == Co_NULL)
{
return E_CREATE_FAIL;
}
#endif
OsSchedLock(); /* Lock schedule */
for(i = 0; i < CFG_MAX_TMR; i++)
{
if((TmrIDVessel & (1 << i)) == 0) /* Is free timer ID? */
{
TmrIDVessel |= (1<<i); /* Yes,assign ID to this timer */
OsSchedUnlock(); /* Unlock schedule */
TmrTbl[i].tmrID = i; /* Initialize timer as user set */
TmrTbl[i].tmrType = tmrType;
TmrTbl[i].tmrState = TMR_STATE_STOPPED;
TmrTbl[i].tmrCnt = tmrCnt;
TmrTbl[i].tmrReload = tmrReload;
TmrTbl[i].tmrCallBack = func;
TmrTbl[i].tmrPrev = Co_NULL;
TmrTbl[i].tmrNext = Co_NULL;
return i; /* Return timer ID */
}
}
OsSchedUnlock(); /* Unlock schedule */
return E_CREATE_FAIL; /* Error return */
}
/**
*******************************************************************************
* @brief Start counter
* @param[in] tmrID Specify a timer which startted.
* @param[out] None
* @retval E_INVALID_ID The timer id passed was invalid,can't start timer
* @retval E_OK Insert a timer to timer list and start it successful.
*
* @par Description
* @details This function is called to make a timer start countering.
*******************************************************************************
*/
StatusType CoStartTmr(OS_TCID tmrID)
{
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(tmrID >= CFG_MAX_TMR)
{
return E_INVALID_ID;
}
if( (TmrIDVessel & (1<<tmrID)) == 0)
{
return E_INVALID_ID;
}
#endif
if(TmrTbl[tmrID].tmrState == TMR_STATE_RUNNING) /* Is timer running? */
{
return E_OK; /* Yes,do nothing,return OK */
}
/* No,set timer status as TMR_STATE_RUNNING */
TmrTbl[tmrID].tmrState = TMR_STATE_RUNNING;
InsertTmrList(tmrID); /* Insert this timer into timer list */
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Stop countering for a spcify timer
* @param[in] tmrID Specify a timer which stopped.
* @param[out] None
* @retval E_INVALID_ID The timer id passed was invalid, stop failure.
* @retval E_OK Stop a timer countering successful.
*
* @par Description
* @details This function is called to stop a timer from counting.
*******************************************************************************
*/
StatusType CoStopTmr(OS_TCID tmrID)
{
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(tmrID >= CFG_MAX_TMR)
{
return E_INVALID_ID;
}
if((TmrIDVessel & (1<<tmrID)) == 0)
{
return E_INVALID_ID;
}
#endif
if(TmrTbl[tmrID].tmrState == TMR_STATE_STOPPED)/* Does timer stop running?*/
{
return E_OK; /* Yes,do nothing,return OK */
}
RemoveTmrList(tmrID); /* No,remove this timer from timer list */
/* Set timer status as TMR_STATE_STOPPED */
TmrTbl[tmrID].tmrState = TMR_STATE_STOPPED;
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Delete a timer
* @param[in] tmrID Specify a timer which deleted.
* @param[out] None
* @retval E_INVALID_ID The timer id passed was invalid,deleted failure.
* @retval E_OK Delete a timer successful.
*
* @par Description
* @details This function is called to delete a timer which created before.
*******************************************************************************
*/
StatusType CoDelTmr(OS_TCID tmrID)
{
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(tmrID >= CFG_MAX_TMR)
{
return E_INVALID_ID;
}
if( (TmrIDVessel & (1<<tmrID)) == 0)
{
return E_INVALID_ID;
}
#endif
if(TmrTbl[tmrID].tmrState == TMR_STATE_RUNNING) /* Is timer running? */
{
RemoveTmrList(tmrID); /* Yes,remove this timer from timer list*/
}
TmrIDVessel &=~(1<<tmrID); /* Release resource that this timer hold*/
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Get current counter of specify timer
* @param[in] tmrID Specify timer by ID.
* @param[out] E_INVALID_ID Invalid ID was passed and get counter failure.
* @param[out] E_OK Get current counter successful.
* @retval Current counter of a timer which specify by id.
*
* @par Description
* @details This function is called to obtain current counter of specify timer.
*******************************************************************************
*/
U32 CoGetCurTmrCnt(OS_TCID tmrID,StatusType* perr)
{
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(tmrID >= CFG_MAX_TMR)
{
*perr = E_INVALID_ID;
return 0;
}
if((TmrIDVessel & (1<<tmrID)) == 0)
{
*perr = E_INVALID_ID;
return 0;
}
#endif
*perr = E_OK;
return TmrTbl[tmrID].tmrCnt; /* Return timer counter */
}
/**
*******************************************************************************
* @brief Setting for a specify timer
* @param[in] tmrID Specify timer by ID.
* @param[in] tmrCnt Specify timer counter which need to be set.
* @param[in] tmrReload Specify timer reload value which need to be set.
* @param[out] None
* @retval E_INVALID_ID The ID passed was invalid,set fail.
* @retval E_OK Set timer counter successful.
*
* @par Description
* @details This function is called to set timer counter and reload value.
*******************************************************************************
*/
StatusType CoSetTmrCnt(OS_TCID tmrID,U32 tmrCnt,U32 tmrReload)
{
#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
if(tmrID >= CFG_MAX_TMR)
{
return E_INVALID_ID;
}
if( (TmrIDVessel & (1<<tmrID)) == 0)
{
return E_INVALID_ID;
}
#endif
TmrTbl[tmrID].tmrCnt = tmrCnt; /* Reset timer counter and reload value */
TmrTbl[tmrID].tmrReload = tmrReload;
if(TmrTbl[tmrID].tmrState == TMR_STATE_RUNNING) /* Is timer running? */
{
RemoveTmrList(tmrID); /* Yes,reorder timer in timer list */
InsertTmrList(tmrID);
}
return E_OK; /* Return OK */
}
/**
*******************************************************************************
* @brief Timer counter dispose
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to dispose timer counter.
*******************************************************************************
*/
void TmrDispose(void)
{
P_TmrCtrl pTmr;
pTmr = TmrList; /* Get first item of timer list */
while((pTmr != Co_NULL) && (pTmr->tmrCnt == 0) )
{
if(pTmr->tmrType == TMR_TYPE_ONE_SHOT) /* Is a One-shot timer? */
{
/* Yes,remove this timer from timer list */
RemoveTmrList(pTmr->tmrID);
/* Set timer status as TMR_STATE_STOPPED */
pTmr->tmrState = TMR_STATE_STOPPED;
(pTmr->tmrCallBack)(); /* Call timer callback function */
}
else if(pTmr->tmrType == TMR_TYPE_PERIODIC) /* Is a periodic timer? */
{
/* Yes,remove this timer from timer list */
RemoveTmrList(pTmr->tmrID);
pTmr->tmrCnt = pTmr->tmrReload; /* Reset timer tick */
InsertTmrList(pTmr->tmrID); /* Insert timer into timer list */
(pTmr->tmrCallBack)(); /* Call timer callback function */
}
pTmr = TmrList; /* Get first item of timer list */
}
}
/**
*******************************************************************************
* @brief Timer counter dispose in ISR
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to dispose timer counter.
*******************************************************************************
*/
void isr_TmrDispose(void)
{
if(OSSchedLock > 1) /* Is schedule lock? */
{
IsrReq = Co_TRUE;
TimerReq = Co_TRUE; /* Yes,set timer request true */
}
else
{
TmrDispose(); /* No,call handler */
}
}
#endif
radio/src/CoOS/kernel/utility.c
+86
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@@ -0,0 +1,86 @@
/**
*******************************************************************************
* @file utility.c
* @version V1.1.4
* @date 2011.04.20
* @brief Utility management implementation code of CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
#if CFG_UTILITY_EN > 0
/**
*******************************************************************************
* @brief Convert tick number to time
* @param[in] ticks Specifies the systerm tick numbers that will be converted.
* @param[out] hour Hours which converted.
* @param[out] minute minutes which converted.
* @param[out] sec seconds which converted.
* @param[out] millsec millseconds which converted.
* @retval None
*
* @par Description
* @details This function is called to convert specify ticks to time format.
*******************************************************************************
*/
#if CFG_TICK_TO_TIME_EN > 0
void CoTickToTime(U32 ticks,U8* hour,U8* minute,U8* sec,U16* millsec)
{
U32 totalTime;
/* Convert ticks to time*/
totalTime = ticks * (1000/CFG_SYSTICK_FREQ);
*millsec = totalTime%1000;
totalTime = totalTime/1000;
*sec = totalTime%60;
totalTime = totalTime/60;
*minute = totalTime%60;
totalTime = totalTime/60;
*hour = totalTime;
}
#endif /* CFG_TICK_TO_TIME_EN */
/**
*******************************************************************************
* @brief Convert time to tick
* @param[in] hour Specifies the number of hours.
* @param[in] minute Specifies the number of minutes.
* @param[in] sec Specifies the number of seconds.
* @param[in] millsec Specifies the number of millseconds.
* @param[out] ticks Tick numbers that converted.
* @retval E_INVALID_PARAMETER Invalid parameter be passed and convert fail.
* @retval E_OK Convert successful.
*
* @par Description
* @details This function is called to convert specify time to tick number.
*******************************************************************************
*/
#if CFG_TIME_TO_TICK_EN > 0
StatusType CoTimeToTick(U8 hour,U8 minute,U8 sec,U16 millsec,U32* ticks)
{
#if CFG_PAR_CHECKOUT_EN >0
/* Validate arguments to be within range */
if((minute > 59)||(sec > 59)||(millsec > 999))
return E_INVALID_PARAMETER;
#endif
/* Convert time to ticks */
*ticks = ((hour*3600) + (minute*60) + (sec)) * (CFG_SYSTICK_FREQ)\
+ (millsec*CFG_SYSTICK_FREQ + 500)/1000;
return E_OK;
}
#endif /* CFG_TIME_TO_TICK_EN */
#endif /* CFG_UTILITY_EN */
radio/src/CoOS/kernel/utility.h
+39
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@@ -0,0 +1,39 @@
/**
*******************************************************************************
* @file utility.h
* @version V1.1.4
* @date 2011.04.20
* @brief Utility function header file
* @details This file including some defines and declares related to utility
* function.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _UTILITY_H
#define _UTILITY_H
/**
* @struct Time struct utility.h
* @brief Time struct
* @details This struct use to manage time
*/
typedef struct SysTime
{
U8 sec; /*!< Second */
U8 min; /*!< Minute */
U8 hour; /*!< Hour */
U8 date; /*!< Date */
U8 month; /*!< Month */
U16 year; /*!< Year */
}TIME;
#endif
radio/src/CoOS/portable/GCC/port.c
+295
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@@ -0,0 +1,295 @@
/**
*******************************************************************************
* @file prot.c
* @version V1.1.4
* @date 2011.04.20
* @brief Compiler adapter for CooCox CoOS kernel.
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2010 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include "coocox.h"
//******************************************************************************
// EQUATES
//******************************************************************************
U32 NVIC_INT_CTRL = 0xE000ED04; // Interrupt control state register
U32 NVIC_PENDSVSET = 0x10000000; // Value to trigger PendSV exception
U32 INT_EXIT = 0xFFFFFFFC;
//******************************************************************************
// PUBLIC FUNCTIONS
//******************************************************************************
extern U8 Inc8(volatile U8 *data) ;
extern U8 Dec8(volatile U8 *data) ;
extern void IRQ_ENABLE_RESTORE(void);
extern void IRQ_DISABLE_SAVE(void);
extern void SetEnvironment(OS_STK *pstk) __attribute__ ((naked));
extern void SwitchContext(void) __attribute__ ((naked));
extern void PendSV_Handler(void) __attribute__ ((naked));
/**
******************************************************************************
* @brief Plus a byte integers and Saved into memory cell
* @param[in] data byte integers.
* @param[out] None
* @retval Returns Original value.
*
* @par Description
* @details This function is called to Plus a byte integers
* and Saved into memory cell.
******************************************************************************
*/
U8 Inc8 (volatile U8 *data)
{
register U8 result = 0;
__asm volatile
(
" PUSH {R1} \n"
" CPSID I \n"
" LDRB R1,[%1] \n"
" ADD R1,#1 \n"
" STRB R1,[%1] \n"
" CPSIE I \n"
" SUB R1,#0x1 \n"
" MOVS %0,R1 \n"
" POP {R1} \n"
:"=r"(result)
:"r"(data)
);
return (result);
}
/**
******************************************************************************
* @brief Decrease a byte integers and Saved into memory cell
* @param[in] data byte integers.
* @param[out] None
* @retval Returns Original value.
*
* @par Description
* @details This function is called to Decrease a byte integers
* and Saved into memory cell.
******************************************************************************
*/
U8 Dec8 (volatile U8 *data)
{
register U8 result = 0;
__asm volatile
(
" PUSH {R1} \n"
" CPSID I \n"
" LDRB R1,[%1] \n"
" SUB R1,#1 \n"
" STRB R1,[%1] \n"
" CPSIE I \n"
" MOVS %0,R1 \n"
" POP {R1} \n"
:"=r"(result)
:"r"(data)
);
return (result);
}
/**
******************************************************************************
* @brief ENABLE Interrupt
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to ENABLE Interrupt.
******************************************************************************
*/
void IRQ_ENABLE_RESTORE(void)
{
__asm volatile
(
" CPSIE I \n"
);
return;
}
/**
******************************************************************************
* @brief Close Interrupt
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This function is called to close Interrupt.
******************************************************************************
*/
void IRQ_DISABLE_SAVE(void)
{
__asm volatile
(
" CPSID I \n"
);
return;
}
/**
******************************************************************************
* @brief Set environment for Coocox OS running
* @param[in] pstk stack pointer
* @param[out] None
* @retval None.
*
* @par Description
* @details This function is called to Set environment
* for Coocox OS running.
******************************************************************************
*/
void SetEnvironment (OS_STK *pstk)
{
__asm volatile
(
" SUB R0,#28 \n"
" MSR PSP,R0 \n"
" BX LR \n"
);
}
/**
******************************************************************************
* @brief Do ready work to Switch Context for task change
* @param[in] None
* @param[out] None
* @retval None.
*
* @par Description
* @details This function is called to Do ready work to
* Switch Context for task change
******************************************************************************
*/
void SwitchContext(void)
{
__asm volatile
(
" LDR R3,=NVIC_INT_CTRL \n"
" LDR R3,[R3] \n"
" LDR R2,=NVIC_PENDSVSET \n"
" LDR R1,[R2] \n"
" STR R1, [R3] \n"
" BX LR \n"
);
}
/**
******************************************************************************
* @brief Switch Context for task change
* @param[in] None
* @param[out] None
* @retval None.
*
* @par Description
* @details This function is called to Switch Context for task change.
******************************************************************************
*/
#if CFG_CHIP_TYPE == 2
void PendSV_Handler(void)
{
__asm volatile
(
" LDR R3,=TCBRunning \n"
" LDR R1,[R3] \n" // R1 == running tcb
" LDR R2,=TCBNext \n"
" LDR R2,[R2] \n" // R2 == next tcb
" CMP R1,R2 \n"
" BEQ exitPendSV \n"
" MRS R0, PSP \n" // Get PSP point (can not use PUSH,in ISR,SP is MSP )
" SUB R0,R0,#32 \n"
" STR R0,[R1] \n" // Save orig PSP
// Store r4-r11,r0 -= regCnt * 4,r0 is new stack
// top point (addr h->l r11,r10,...,r5,r4)
" STMIA R0!,{R4-R7} \n" // Save old context (R4-R7)
" MOV R4,R8 \n"
" MOV R5,R9 \n"
" MOV R6,R10 \n"
" MOV R7,R11 \n"
" STMIA R0!,{R4-R7} \n" // Save old context (R8-R11)
" popStk: \n"
" STR R2, [R3] \n" // TCBRunning = TCBNext;
" LDR R0, [R2] \n" // Get SP of task that be switch into.
" ADD R0,R0,#16 \n"
" LDMIA R0!,{R4-R7} \n" // Restore new Context (R8-R11)
" MOV R8,R4 \n"
" MOV R9,R5 \n"
" MOV R10,R6 \n"
" MOV R11,R7 \n"
" SUB R0,R0,#32 \n"
" LDMIA R0!,{R4-R7} \n" // Restore new Context (R4-R7)
" ADD R0,R0,#16 \n"
" MSR PSP, R0 \n" // Mov new stack point to PSP
" exitPendSV: \n"
" LDR R3,=OSSchedLock \n"
" MOV R0, #0x0 \n"
" STRB R0, [R3] \n"
" LDR R3,=INT_EXIT \n"
" LDR R0, [R3] \n"
" BX R0 \n" // Exit interrupt
);
}
#endif
#if CFG_CHIP_TYPE == 1
void PendSV_Handler(void)
{
////////debug block /////////////////////////
__asm volatile
(
" LDR R3,=TCBRunning \n"
" LDR R1,[R3] \n" // R1 == running tcb
" LDR R2,=TCBNext \n"
" LDR R2,[R2] \n" // R2 == next tcb
" CMP R1,R2 \n"
" BEQ exitPendSV \n"
" MRS R0, PSP \n" // Get PSP point (can not use PUSH,in ISR,SP is MSP )
" STMDB R0!,{R4-R11} \n" // Store r4-r11,r0 -= regCnt * 4,r0 is new stack
// top point (addr h->l r11,r10,...,r5,r4)
" STR R0,[R1] \n" // Save orig PSP
" STR R2, [R3] \n" // TCBRunning = TCBNext;
" LDR R0, [R2] \n" // Get SP of task that be switch into.
" LDMIA R0!,{R4-R11} \n" // POP {R4-R11},R0 += regCnt * 4
" MSR PSP, R0 \n" // Mov new stack point to PSP
" exitPendSV: \n"
" LDR R3,=OSSchedLock\n"
" MOVS R0, #0x0 \n"
" STRB R0, [R3] \n"
" ORR LR,LR,#0x04 \n" // Ensure exception return uses process stack
" BX LR \n" // Exit interrupt
);
}
#endif
radio/src/CoOS/portable/OsArch.h
+50
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@@ -0,0 +1,50 @@
/**
*******************************************************************************
* @file OsArch.h
* @version V1.1.4
* @date 2011.04.20
* @brief Implement function declare related to Cortex-M3(ARM-v7)
* @details This header file including functions or defines related to
* Cortex-M3(ARM-v7).
*******************************************************************************
* @copy
*
* INTERNAL FILE,DON'T PUBLIC.
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
#ifndef _CPU_H
#define _CPU_H
#define NVIC_ST_CTRL (*((volatile U32 *)0xE000E010))
#define NVIC_ST_RELOAD (*((volatile U32 *)0xE000E014))
#define RELOAD_VAL ((U32)(( (U32)CFG_CPU_FREQ) / (U32)CFG_SYSTICK_FREQ) -1)
/*!< Initial System tick. */
#define InitSysTick() NVIC_ST_RELOAD = RELOAD_VAL; \
NVIC_ST_CTRL = 0x0007
#define NVIC_SYS_PRI2 (*((volatile U32 *)0xE000ED1C))
#define NVIC_SYS_PRI3 (*((volatile U32 *)0xE000ED20))
/*!< Initialize PendSV,SVC and SysTick interrupt priority to lowest. */
#define InitInt() NVIC_SYS_PRI2 |= 0xFF000000;\
NVIC_SYS_PRI3 |= 0xFFFF0000
/*---------------------------- Variable declare ------------------------------*/
extern U64 OSTickCnt; /*!< Counter for current system ticks. */
/*!< Initial context of task being created */
extern OS_STK *InitTaskContext(FUNCPtr task,void *param,OS_STK *pstk);
extern void SwitchContext(void); /*!< Switch context */
extern void SetEnvironment(OS_STK *pstk);/*!< Set environment for run */
extern U8 Inc8 (volatile U8 *data);
extern U8 Dec8 (volatile U8 *data);
extern void IRQ_ENABLE_RESTORE(void);
extern void IRQ_DISABLE_SAVE(void);
#endif
radio/src/CoOS/portable/arch.c
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/**
*******************************************************************************
* @file arch.c
* @version V1.1.4
* @date 2011.04.20
* @brief This file provides InitTaskContext() and SysTick_Handler().
*******************************************************************************
* @copy
* WRITE COPY INFORMATION USE CAPITAL LETTER
*
* <h2><center>&copy; COPYRIGHT 2009 CooCox </center></h2>
*******************************************************************************
*/
/*---------------------------- Include ---------------------------------------*/
#include <coocox.h>
U64 OSTickCnt = 0; /*!< Current system tick counter */
/**
******************************************************************************
* @brief Initial task context
* @param[in] task Entry point of task.
* @param[in] param The parameter pass to task.
* @param[in] pstk The pointer to stack top.
* @param[out] None
* @retval Returns location of new stack top.
*
* @par Description
* @details This function is called to initialize the stack frame of the
* task being created.
******************************************************************************
*/
OS_STK *InitTaskContext(FUNCPtr task,void *param,OS_STK *pstk)
{
OS_STK *context;
context = pstk;
*(context--) = (U32)0x01000000L; /* xPSR */
*(context--) = (U32)task; /* Entry point of task. */
*(context) = (U32)0xFFFFFFFEL;
context = context - 5;
*(context) = (U32)param; /* R0: argument */
context = context - 8;
return (context); /* Returns location of new stack top. */
}
/**
*******************************************************************************
* @brief System tick interrupt handler.
* @param[in] None
* @param[out] None
* @retval None
*
* @par Description
* @details This is system tick interrupt headler.
* @note CoOS may schedule when exiting this ISR.
*******************************************************************************
*/
void SysTick_Handler(void)
{
OSSchedLock++; /* Lock scheduler. */
OSTickCnt++; /* Increment systerm time. */
#if CFG_TASK_WAITTING_EN >0
if(DlyList != Co_NULL) /* Have task in delay list? */
{
if(DlyList->delayTick > 1) /* Delay time > 1? */
{
DlyList->delayTick--; /* Decrease delay time of the list head. */
}
else
{
DlyList->delayTick = 0;
isr_TimeDispose(); /* Call hander for delay time list */
}
}
#endif
#if CFG_TMR_EN > 0
if(TmrList != Co_NULL) /* Have timer in working? */
{
if(TmrList->tmrCnt > 1) /* Timer time > 1? */
{
TmrList->tmrCnt--; /* Decrease timer time of the list head. */
}
else
{
TmrList->tmrCnt = 0;
isr_TmrDispose(); /* Call hander for timer list */
}
}
#endif
TaskSchedReq = Co_TRUE;
OsSchedUnlock();
}
radio/src/FatFs/00readme.txt
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FatFs Module Source Files R0.09b (C)ChaN, 2013
FILES
ffconf.h Configuration file for FatFs module.
ff.h Common include file for FatFs and application module.
ff.c FatFs module.
diskio.h Common include file for FatFs and disk I/O module.
diskio.c An example of glue function to attach existing disk I/O module to FatFs.
integer.h Integer type definitions for FatFs.
option Optional external functions.
Low level disk I/O module is not included in this archive because the FatFs
module is only a generic file system layer and not depend on any specific
storage device. You have to provide a low level disk I/O module that written
to control your storage device.
AGREEMENTS
FatFs module is an open source software to implement FAT file system to
small embedded systems. This is a free software and is opened for education,
research and commercial developments under license policy of following trems.
Copyright (C) 2012, ChaN, all right reserved.
* The FatFs module is a free software and there is NO WARRANTY.
* No restriction on use. You can use, modify and redistribute it for
personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY.
* Redistributions of source code must retain the above copyright notice.
REVISION HISTORY
Feb 26, 2006 R0.00 Prototype
Apr 29, 2006 R0.01 First release.
Jun 01, 2006 R0.02 Added FAT12.
Removed unbuffered mode.
Fixed a problem on small (<32M) patition.
Jun 10, 2006 R0.02a Added a configuration option _FS_MINIMUM.
Sep 22, 2006 R0.03 Added f_rename.
Changed option _FS_MINIMUM to _FS_MINIMIZE.
Dec 11, 2006 R0.03a Improved cluster scan algolithm to write files fast.
Fixed f_mkdir creates incorrect directory on FAT32.
Feb 04, 2007 R0.04 Supported multiple drive system. (FatFs)
Changed some APIs for multiple drive system.
Added f_mkfs. (FatFs)
Added _USE_FAT32 option. (Tiny-FatFs)
Apr 01, 2007 R0.04a Supported multiple partitions on a plysical drive. (FatFs)
Fixed an endian sensitive code in f_mkfs. (FatFs)
Added a capability of extending the file size to f_lseek.
Added minimization level 3.
Fixed a problem that can collapse a sector when recreate an
existing file in any sub-directory at non FAT32 cfg. (Tiny-FatFs)
May 05, 2007 R0.04b Added _USE_NTFLAG option.
Added FSInfo support.
Fixed some problems corresponds to FAT32. (Tiny-FatFs)
Fixed DBCS name can result FR_INVALID_NAME.
Fixed short seek (0 < ofs <= csize) collapses the file object.
Aug 25, 2007 R0.05 Changed arguments of f_read, f_write.
Changed arguments of f_mkfs. (FatFs)
Fixed f_mkfs on FAT32 creates incorrect FSInfo. (FatFs)
Fixed f_mkdir on FAT32 creates incorrect directory. (FatFs)
Feb 03, 2008 R0.05a Added f_truncate().
Added f_utime().
Fixed off by one error at FAT sub-type determination.
Fixed btr in f_read() can be mistruncated.
Fixed cached sector is not flushed when create and close without write.
Apr 01, 2008 R0.06 Added f_forward(). (Tiny-FatFs)
Added string functions: fputc(), fputs(), fprintf() and fgets().
Improved performance of f_lseek() on move to the same or following cluster.
Apr 01, 2009, R0.07 Merged Tiny-FatFs as a buffer configuration option.
Added long file name support.
Added multiple code page support.
Added re-entrancy for multitask operation.
Added auto cluster size selection to f_mkfs().
Added rewind option to f_readdir().
Changed result code of critical errors.
Renamed string functions to avoid name collision.
Apr 14, 2009, R0.07a Separated out OS dependent code on reentrant cfg.
Added multiple sector size support.
Jun 21, 2009, R0.07c Fixed f_unlink() may return FR_OK on error.
Fixed wrong cache control in f_lseek().
Added relative path feature.
Added f_chdir().
Added f_chdrive().
Added proper case conversion for extended characters.
Nov 03, 2009 R0.07e Separated out configuration options from ff.h to ffconf.h.
Added a configuration option, _LFN_UNICODE.
Fixed f_unlink() fails to remove a sub-dir on _FS_RPATH.
Fixed name matching error on the 13 char boundary.
Changed f_readdir() to return the SFN with always upper case on non-LFN cfg.
May 15, 2010, R0.08 Added a memory configuration option. (_USE_LFN)
Added file lock feature. (_FS_SHARE)
Added fast seek feature. (_USE_FASTSEEK)
Changed some types on the API, XCHAR->TCHAR.
Changed fname member in the FILINFO structure on Unicode cfg.
String functions support UTF-8 encoding files on Unicode cfg.
Aug 16,'10 R0.08a Added f_getcwd(). (_FS_RPATH = 2)
Added sector erase feature. (_USE_ERASE)
Moved file lock semaphore table from fs object to the bss.
Fixed a wrong directory entry is created on non-LFN cfg when the given name contains ';'.
Fixed f_mkfs() creates wrong FAT32 volume.
Jan 15,'11 R0.08b Fast seek feature is also applied to f_read() and f_write().
f_lseek() reports required table size on creating CLMP.
Extended format syntax of f_printf function.
Ignores duplicated directory separators in given path names.
Sep 06,'11 R0.09 f_mkfs() supports multiple partition to finish the multiple partition feature.
Added f_fdisk(). (_MULTI_PARTITION = 2)
Aug 27,'12 R0.09a Fixed assertion failure due to OS/2 EA on FAT12/16.
Changed f_open() and f_opendir() reject null object pointer to avoid crash.
Changed option name _FS_SHARE to _FS_LOCK.
Jan 23,'13 R0.09b Added f_getlabel() and f_setlabel(). (_USE_LABEL == 1)
radio/src/FatFs/diskio.h
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/*-----------------------------------------------------------------------
/ Low level disk interface modlue include file (C)ChaN, 2013
/-----------------------------------------------------------------------*/
#ifndef _DISKIO_DEFINED
#define _DISKIO_DEFINED
#ifdef __cplusplus
extern "C" {
#endif
#define _USE_WRITE 1 /* 1: Enable disk_write function */
#define _USE_IOCTL 1 /* 1: Enable disk_ioctl fucntion */
#include "integer.h"
/* Status of Disk Functions */
typedef BYTE DSTATUS;
/* Results of Disk Functions */
typedef enum {
RES_OK = 0, /* 0: Successful */
RES_ERROR, /* 1: R/W Error */
RES_WRPRT, /* 2: Write Protected */
RES_NOTRDY, /* 3: Not Ready */
RES_PARERR /* 4: Invalid Parameter */
} DRESULT;
/*---------------------------------------*/
/* Prototypes for disk control functions */
DSTATUS disk_initialize (BYTE pdrv);
DSTATUS disk_status (BYTE pdrv);
DRESULT disk_read (BYTE pdrv, BYTE*buff, DWORD sector, BYTE count);
DRESULT disk_write (BYTE pdrv, const BYTE* buff, DWORD sector, BYTE count);
DRESULT disk_ioctl (BYTE pdrv, BYTE cmd, void* buff);
/* Disk Status Bits (DSTATUS) */
#define STA_NOINIT 0x01 /* Drive not initialized */
#define STA_NODISK 0x02 /* No medium in the drive */
#define STA_PROTECT 0x04 /* Write protected */
/* Command code for disk_ioctrl fucntion */
/* Generic command (used by FatFs) */
#define CTRL_SYNC 0 /* Flush disk cache (for write functions) */
#define GET_SECTOR_COUNT 1 /* Get media size (for only f_mkfs()) */
#define GET_SECTOR_SIZE 2 /* Get sector size (for multiple sector size (_MAX_SS >= 1024)) */
#define GET_BLOCK_SIZE 3 /* Get erase block size (for only f_mkfs()) */
#define CTRL_ERASE_SECTOR 4 /* Force erased a block of sectors (for only _USE_ERASE) */
/* Generic command (not used by FatFs) */
#define CTRL_POWER 5 /* Get/Set power status */
#define CTRL_LOCK 6 /* Lock/Unlock media removal */
#define CTRL_EJECT 7 /* Eject media */
#define CTRL_FORMAT 8 /* Create physical format on the media */
/* MMC/SDC specific ioctl command */
#define MMC_GET_TYPE 10 /* Get card type */
#define MMC_GET_CSD 11 /* Get CSD */
#define MMC_GET_CID 12 /* Get CID */
#define MMC_GET_OCR 13 /* Get OCR */
#define MMC_GET_SDSTAT 14 /* Get SD status */
/* ATA/CF specific ioctl command */
#define ATA_GET_REV 20 /* Get F/W revision */
#define ATA_GET_MODEL 21 /* Get model name */
#define ATA_GET_SN 22 /* Get serial number */
/* MMC card type flags (MMC_GET_TYPE) */
#define CT_MMC 0x01 /* MMC ver 3 */
#define CT_SD1 0x02 /* SD ver 1 */
#define CT_SD2 0x04 /* SD ver 2 */
#define CT_SDC (CT_SD1|CT_SD2) /* SD */
#define CT_BLOCK 0x08 /* Block addressing */
#ifdef __cplusplus
}
#endif
#endif
radio/src/FatFs/fattime.c
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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include "integer.h"
#include "../rtc.h"
DWORD get_fattime(void)
{
struct gtm t;
gettime(&t);
/* Pack date and time into a DWORD variable */
return ((DWORD)(t.tm_year - 80) << 25)
| ((uint32_t)(t.tm_mon+1) << 21)
| ((uint32_t)t.tm_mday << 16)
| ((uint32_t)t.tm_hour << 11)
| ((uint32_t)t.tm_min << 5)
| ((uint32_t)t.tm_sec >> 1);
}
radio/src/FatFs/ff.c
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radio/src/FatFs/ff.h
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/*---------------------------------------------------------------------------/
/ FatFs - FAT file system module include file R0.09b (C)ChaN, 2013
/----------------------------------------------------------------------------/
/ FatFs module is a generic FAT file system module for small embedded systems.
/ This is a free software that opened for education, research and commercial
/ developments under license policy of following terms.
/
/ Copyright (C) 2013, ChaN, all right reserved.
/
/ * The FatFs module is a free software and there is NO WARRANTY.
/ * No restriction on use. You can use, modify and redistribute it for
/ personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY.
/ * Redistributions of source code must retain the above copyright notice.
/
/----------------------------------------------------------------------------*/
#ifndef _FATFS
#define _FATFS 82786 /* Revision ID */
#ifdef __cplusplus
extern "C" {
#endif
#include "integer.h" /* Basic integer types */
#include "ffconf.h" /* FatFs configuration options */
#if _FATFS != _FFCONF
#error Wrong configuration file (ffconf.h).
#endif
/* Definitions of volume management */
#if _MULTI_PARTITION /* Multiple partition configuration */
typedef struct {
BYTE pd; /* Physical drive number */
BYTE pt; /* Partition: 0:Auto detect, 1-4:Forced partition) */
} PARTITION;
extern PARTITION VolToPart[]; /* Volume - Partition resolution table */
#define LD2PD(vol) (VolToPart[vol].pd) /* Get physical drive number */
#define LD2PT(vol) (VolToPart[vol].pt) /* Get partition index */
#else /* Single partition configuration */
#define LD2PD(vol) (BYTE)(vol) /* Each logical drive is bound to the same physical drive number */
#define LD2PT(vol) 0 /* Always mounts the 1st partition or in SFD */
#endif
/* Type of path name strings on FatFs API */
#if _LFN_UNICODE /* Unicode string */
#if !_USE_LFN
#error _LFN_UNICODE must be 0 in non-LFN cfg.
#endif
#ifndef _INC_TCHAR
typedef WCHAR TCHAR;
#define _T(x) L ## x
#define _TEXT(x) L ## x
#endif
#else /* ANSI/OEM string */
#ifndef _INC_TCHAR
typedef char TCHAR;
#define _T(x) x
#define _TEXT(x) x
#endif
#endif
/* File system object structure (FATFS) */
typedef struct {
BYTE fs_type; /* FAT sub-type (0:Not mounted) */
BYTE drv; /* Physical drive number */
BYTE csize; /* Sectors per cluster (1,2,4...128) */
BYTE n_fats; /* Number of FAT copies (1,2) */
BYTE wflag; /* win[] dirty flag (1:must be written back) */
BYTE fsi_flag; /* fsinfo dirty flag (1:must be written back) */
WORD id; /* File system mount ID */
WORD n_rootdir; /* Number of root directory entries (FAT12/16) */
#if _MAX_SS != 512
WORD ssize; /* Bytes per sector (512, 1024, 2048 or 4096) */
#endif
#if _FS_REENTRANT
_SYNC_t sobj; /* Identifier of sync object */
#endif
#if !_FS_READONLY
DWORD last_clust; /* Last allocated cluster */
DWORD free_clust; /* Number of free clusters */
DWORD fsi_sector; /* fsinfo sector (FAT32) */
#endif
#if _FS_RPATH
DWORD cdir; /* Current directory start cluster (0:root) */
#endif
DWORD n_fatent; /* Number of FAT entries (= number of clusters + 2) */
DWORD fsize; /* Sectors per FAT */
DWORD volbase; /* Volume start sector */
DWORD fatbase; /* FAT start sector */
DWORD dirbase; /* Root directory start sector (FAT32:Cluster#) */
DWORD database; /* Data start sector */
DWORD winsect; /* Current sector appearing in the win[] */
BYTE win[_MAX_SS]; /* Disk access window for Directory, FAT (and Data on tiny cfg) */
} FATFS;
/* File object structure (FIL) */
typedef struct {
FATFS* fs; /* Pointer to the related file system object (**do not change order**) */
WORD id; /* Owner file system mount ID (**do not change order**) */
BYTE flag; /* File status flags */
BYTE pad1;
DWORD fptr; /* File read/write pointer (0ed on file open) */
DWORD fsize; /* File size */
DWORD sclust; /* File data start cluster (0:no data cluster, always 0 when fsize is 0) */
DWORD clust; /* Current cluster of fpter */
DWORD dsect; /* Current data sector of fpter */
#if !_FS_READONLY
DWORD dir_sect; /* Sector containing the directory entry */
BYTE* dir_ptr; /* Pointer to the directory entry in the window */
#endif
#if _USE_FASTSEEK
DWORD* cltbl; /* Pointer to the cluster link map table (null on file open) */
#endif
#if _FS_LOCK
UINT lockid; /* File lock ID (index of file semaphore table Files[]) */
#endif
#if !_FS_TINY
BYTE buf[_MAX_SS]; /* File data read/write buffer */
#endif
} FIL;
/* Directory object structure (DIR) */
typedef struct {
FATFS* fs; /* Pointer to the owner file system object (**do not change order**) */
WORD id; /* Owner file system mount ID (**do not change order**) */
WORD index; /* Current read/write index number */
DWORD sclust; /* Table start cluster (0:Root dir) */
DWORD clust; /* Current cluster */
DWORD sect; /* Current sector */
BYTE* dir; /* Pointer to the current SFN entry in the win[] */
BYTE* fn; /* Pointer to the SFN (in/out) {file[8],ext[3],status[1]} */
#if _USE_LFN
WCHAR* lfn; /* Pointer to the LFN working buffer */
WORD lfn_idx; /* Last matched LFN index number (0xFFFF:No LFN) */
#endif
} DIR;
/* File status structure (FILINFO) */
typedef struct {
DWORD fsize; /* File size */
WORD fdate; /* Last modified date */
WORD ftime; /* Last modified time */
BYTE fattrib; /* Attribute */
TCHAR fname[13]; /* Short file name (8.3 format) */
#if _USE_LFN
TCHAR* lfname; /* Pointer to the LFN buffer */
UINT lfsize; /* Size of LFN buffer in TCHAR */
#endif
} FILINFO;
/* File function return code (FRESULT) */
typedef enum {
FR_OK = 0, /* (0) Succeeded */
FR_DISK_ERR, /* (1) A hard error occurred in the low level disk I/O layer */
FR_INT_ERR, /* (2) Assertion failed */
FR_NOT_READY, /* (3) The physical drive cannot work */
FR_NO_FILE, /* (4) Could not find the file */
FR_NO_PATH, /* (5) Could not find the path */
FR_INVALID_NAME, /* (6) The path name format is invalid */
FR_DENIED, /* (7) Access denied due to prohibited access or directory full */
FR_EXIST, /* (8) Access denied due to prohibited access */
FR_INVALID_OBJECT, /* (9) The file/directory object is invalid */
FR_WRITE_PROTECTED, /* (10) The physical drive is write protected */
FR_INVALID_DRIVE, /* (11) The logical drive number is invalid */
FR_NOT_ENABLED, /* (12) The volume has no work area */
FR_NO_FILESYSTEM, /* (13) There is no valid FAT volume */
FR_MKFS_ABORTED, /* (14) The f_mkfs() aborted due to any parameter error */
FR_TIMEOUT, /* (15) Could not get a grant to access the volume within defined period */
FR_LOCKED, /* (16) The operation is rejected according to the file sharing policy */
FR_NOT_ENOUGH_CORE, /* (17) LFN working buffer could not be allocated */
FR_TOO_MANY_OPEN_FILES, /* (18) Number of open files > _FS_SHARE */
FR_INVALID_PARAMETER /* (19) Given parameter is invalid */
} FRESULT;
/*--------------------------------------------------------------*/
/* FatFs module application interface */
FRESULT f_mount (BYTE vol, FATFS* fs); /* Mount/Unmount a logical drive */
FRESULT f_open (FIL* fp, const TCHAR* path, BYTE mode); /* Open or create a file */
FRESULT f_read (FIL* fp, void* buff, UINT btr, UINT* br); /* Read data from a file */
FRESULT f_lseek (FIL* fp, DWORD ofs); /* Move file pointer of a file object */
FRESULT f_close (FIL* fp); /* Close an open file object */
FRESULT f_opendir (DIR* dj, const TCHAR* path); /* Open an existing directory */
FRESULT f_readdir (DIR* dj, FILINFO* fno); /* Read a directory item */
FRESULT f_stat (const TCHAR* path, FILINFO* fno); /* Get file status */
FRESULT f_write (FIL* fp, const void* buff, UINT btw, UINT* bw); /* Write data to a file */
FRESULT f_getfree (const TCHAR* path, DWORD* nclst, FATFS** fatfs); /* Get number of free clusters on the drive */
FRESULT f_truncate (FIL* fp); /* Truncate file */
FRESULT f_sync (FIL* fp); /* Flush cached data of a writing file */
FRESULT f_unlink (const TCHAR* path); /* Delete an existing file or directory */
FRESULT f_mkdir (const TCHAR* path); /* Create a new directory */
FRESULT f_chmod (const TCHAR* path, BYTE value, BYTE mask); /* Change attribute of the file/dir */
FRESULT f_utime (const TCHAR* path, const FILINFO* fno); /* Change times-tamp of the file/dir */
FRESULT f_rename (const TCHAR* path_old, const TCHAR* path_new); /* Rename/Move a file or directory */
FRESULT f_chdrive (BYTE drv); /* Change current drive */
FRESULT f_chdir (const TCHAR* path); /* Change current directory */
FRESULT f_getcwd (TCHAR* buff, UINT len); /* Get current directory */
FRESULT f_getlabel (const TCHAR* path, TCHAR* label, DWORD* sn); /* Get volume label */
FRESULT f_setlabel (const TCHAR* label); /* Set volume label */
FRESULT f_forward (FIL* fp, UINT(*func)(const BYTE*,UINT), UINT btf, UINT* bf); /* Forward data to the stream */
FRESULT f_mkfs (BYTE vol, BYTE sfd, UINT au); /* Create a file system on the drive */
FRESULT f_fdisk (BYTE pdrv, const DWORD szt[], void* work); /* Divide a physical drive into some partitions */
int f_putc (TCHAR c, FIL* fp); /* Put a character to the file */
int f_puts (const TCHAR* str, FIL* cp); /* Put a string to the file */
int f_printf (FIL* fp, const TCHAR* str, ...); /* Put a formatted string to the file */
TCHAR* f_gets (TCHAR* buff, int len, FIL* fp); /* Get a string from the file */
#define f_eof(fp) (((fp)->fptr == (fp)->fsize) ? 1 : 0)
#define f_error(fp) (((fp)->flag & FA__ERROR) ? 1 : 0)
#define f_tell(fp) ((fp)->fptr)
#define f_size(fp) ((fp)->fsize)
#ifndef EOF
#define EOF (-1)
#endif
/*--------------------------------------------------------------*/
/* Additional user defined functions */
/* RTC function */
#if !_FS_READONLY
DWORD get_fattime (void);
#endif
/* Unicode support functions */
#if _USE_LFN /* Unicode - OEM code conversion */
WCHAR ff_convert (WCHAR chr, UINT dir); /* OEM-Unicode bidirectional conversion */
WCHAR ff_wtoupper (WCHAR chr); /* Unicode upper-case conversion */
#if _USE_LFN == 3 /* Memory functions */
void* ff_memalloc (UINT msize); /* Allocate memory block */
void ff_memfree (void* mblock); /* Free memory block */
#endif
#endif
/* Sync functions */
#if _FS_REENTRANT
int ff_cre_syncobj (BYTE vol, _SYNC_t* sobj); /* Create a sync object */
int ff_req_grant (_SYNC_t sobj); /* Lock sync object */
void ff_rel_grant (_SYNC_t sobj); /* Unlock sync object */
int ff_del_syncobj (_SYNC_t sobj); /* Delete a sync object */
#endif
/*--------------------------------------------------------------*/
/* Flags and offset address */
/* File access control and file status flags (FIL.flag) */
#define FA_READ 0x01
#define FA_OPEN_EXISTING 0x00
#define FA__ERROR 0x80
#if !_FS_READONLY
#define FA_WRITE 0x02
#define FA_CREATE_NEW 0x04
#define FA_CREATE_ALWAYS 0x08
#define FA_OPEN_ALWAYS 0x10
#define FA__WRITTEN 0x20
#define FA__DIRTY 0x40
#endif
/* FAT sub type (FATFS.fs_type) */
#define FS_FAT12 1
#define FS_FAT16 2
#define FS_FAT32 3
/* File attribute bits for directory entry */
#define AM_RDO 0x01 /* Read only */
#define AM_HID 0x02 /* Hidden */
#define AM_SYS 0x04 /* System */
#define AM_VOL 0x08 /* Volume label */
#define AM_LFN 0x0F /* LFN entry */
#define AM_DIR 0x10 /* Directory */
#define AM_ARC 0x20 /* Archive */
#define AM_MASK 0x3F /* Mask of defined bits */
/* Fast seek feature */
#define CREATE_LINKMAP 0xFFFFFFFF
/*--------------------------------*/
/* Multi-byte word access macros */
#if _WORD_ACCESS == 1 /* Enable word access to the FAT structure */
#define LD_WORD(ptr) (WORD)(*(WORD*)(BYTE*)(ptr))
#define LD_DWORD(ptr) (DWORD)(*(DWORD*)(BYTE*)(ptr))
#define ST_WORD(ptr,val) *(WORD*)(BYTE*)(ptr)=(WORD)(val)
#define ST_DWORD(ptr,val) *(DWORD*)(BYTE*)(ptr)=(DWORD)(val)
#else /* Use byte-by-byte access to the FAT structure */
#define LD_WORD(ptr) (WORD)(((WORD)*((BYTE*)(ptr)+1)<<8)|(WORD)*(BYTE*)(ptr))
#define LD_DWORD(ptr) (DWORD)(((DWORD)*((BYTE*)(ptr)+3)<<24)|((DWORD)*((BYTE*)(ptr)+2)<<16)|((WORD)*((BYTE*)(ptr)+1)<<8)|*(BYTE*)(ptr))
#define ST_WORD(ptr,val) *(BYTE*)(ptr)=(BYTE)(val); *((BYTE*)(ptr)+1)=(BYTE)((WORD)(val)>>8)
#define ST_DWORD(ptr,val) *(BYTE*)(ptr)=(BYTE)(val); *((BYTE*)(ptr)+1)=(BYTE)((WORD)(val)>>8); *((BYTE*)(ptr)+2)=(BYTE)((DWORD)(val)>>16); *((BYTE*)(ptr)+3)=(BYTE)((DWORD)(val)>>24)
#endif
#ifdef __cplusplus
}
#endif
#endif /* _FATFS */
radio/src/FatFs/ffconf.h
+211
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/*---------------------------------------------------------------------------/
/ FatFs - FAT file system module configuration file R0.09b (C)ChaN, 2013
/----------------------------------------------------------------------------/
/
/ CAUTION! Do not forget to make clean the project after any changes to
/ the configuration options.
/
/----------------------------------------------------------------------------*/
#ifndef _FFCONF
#define _FFCONF 82786 /* Revision ID */
#if defined(CPUARM) && !defined(SIMU)
#ifdef __cplusplus
extern "C" {
#endif
#include "../CoOS/kernel/CoOS.h"
#ifdef __cplusplus
}
#endif
#endif
/*---------------------------------------------------------------------------/
/ Functions and Buffer Configurations
/----------------------------------------------------------------------------*/
#define _FS_TINY 0 /* 0:Normal or 1:Tiny */
/* When _FS_TINY is set to 1, FatFs uses the sector buffer in the file system
/ object instead of the sector buffer in the individual file object for file
/ data transfer. This reduces memory consumption 512 bytes each file object. */
#define _FS_READONLY 0 /* 0:Read/Write or 1:Read only */
/* Setting _FS_READONLY to 1 defines read only configuration. This removes
/ writing functions, f_write, f_sync, f_unlink, f_mkdir, f_chmod, f_rename,
/ f_truncate and useless f_getfree. */
#define _FS_MINIMIZE 0 /* 0 to 3 */
/* The _FS_MINIMIZE option defines minimization level to remove some functions.
/
/ 0: Full function.
/ 1: f_stat, f_getfree, f_unlink, f_mkdir, f_chmod, f_truncate and f_rename
/ are removed.
/ 2: f_opendir and f_readdir are removed in addition to 1.
/ 3: f_lseek is removed in addition to 2. */
#define _USE_STRFUNC 1 /* 0:Disable or 1-2:Enable */
/* To enable string functions, set _USE_STRFUNC to 1 or 2. */
#define _USE_MKFS 1 /* 0:Disable or 1:Enable */
/* To enable f_mkfs function, set _USE_MKFS to 1 and set _FS_READONLY to 0 */
#define _USE_FASTSEEK 0 /* 0:Disable or 1:Enable */
/* To enable fast seek feature, set _USE_FASTSEEK to 1. */
#define _USE_LABEL 0 /* 0:Disable or 1:Enable */
/* To enable volume label functions, set _USE_LAVEL to 1 */
#define _USE_FORWARD 0 /* 0:Disable or 1:Enable */
/* To enable f_forward function, set _USE_FORWARD to 1 and set _FS_TINY to 1. */
/*---------------------------------------------------------------------------/
/ Locale and Namespace Configurations
/----------------------------------------------------------------------------*/
#define _CODE_PAGE 1252
/* The _CODE_PAGE specifies the OEM code page to be used on the target system.
/ Incorrect setting of the code page can cause a file open failure.
/
/ 932 - Japanese Shift-JIS (DBCS, OEM, Windows)
/ 936 - Simplified Chinese GBK (DBCS, OEM, Windows)
/ 949 - Korean (DBCS, OEM, Windows)
/ 950 - Traditional Chinese Big5 (DBCS, OEM, Windows)
/ 1250 - Central Europe (Windows)
/ 1251 - Cyrillic (Windows)
/ 1252 - Latin 1 (Windows)
/ 1253 - Greek (Windows)
/ 1254 - Turkish (Windows)
/ 1255 - Hebrew (Windows)
/ 1256 - Arabic (Windows)
/ 1257 - Baltic (Windows)
/ 1258 - Vietnam (OEM, Windows)
/ 437 - U.S. (OEM)
/ 720 - Arabic (OEM)
/ 737 - Greek (OEM)
/ 775 - Baltic (OEM)
/ 850 - Multilingual Latin 1 (OEM)
/ 858 - Multilingual Latin 1 + Euro (OEM)
/ 852 - Latin 2 (OEM)
/ 855 - Cyrillic (OEM)
/ 866 - Russian (OEM)
/ 857 - Turkish (OEM)
/ 862 - Hebrew (OEM)
/ 874 - Thai (OEM, Windows)
/ 1 - ASCII only (Valid for non LFN cfg.)
*/
#if defined(CPUARM)
#define _USE_LFN 2 /* 0 to 3 */
#define _MAX_LFN 255 /* Maximum LFN length to handle (12 to 255) */
#else
#define _USE_LFN 1 /* 0 to 3 */
#define _MAX_LFN 32 /* Maximum LFN length to handle (12 to 255) */
#endif
/* The _USE_LFN option switches the LFN support.
/
/ 0: Disable LFN feature. _MAX_LFN and _LFN_UNICODE have no effect.
/ 1: Enable LFN with static working buffer on the BSS. Always NOT reentrant.
/ 2: Enable LFN with dynamic working buffer on the STACK.
/ 3: Enable LFN with dynamic working buffer on the HEAP.
/
/ The LFN working buffer occupies (_MAX_LFN + 1) * 2 bytes. To enable LFN,
/ Unicode handling functions ff_convert() and ff_wtoupper() must be added
/ to the project. When enable to use heap, memory control functions
/ ff_memalloc() and ff_memfree() must be added to the project. */
#define _LFN_UNICODE 0 /* 0:ANSI/OEM or 1:Unicode */
/* To switch the character code set on FatFs API to Unicode,
/ enable LFN feature and set _LFN_UNICODE to 1. */
#define _FS_RPATH 2 /* 0 to 2 */
/* The _FS_RPATH option configures relative path feature.
/
/ 0: Disable relative path feature and remove related functions.
/ 1: Enable relative path. f_chdrive() and f_chdir() are available.
/ 2: f_getcwd() is available in addition to 1.
/
/ Note that output of the f_readdir fnction is affected by this option. */
/*---------------------------------------------------------------------------/
/ Physical Drive Configurations
/----------------------------------------------------------------------------*/
#define _VOLUMES 1
/* Number of volumes (logical drives) to be used. */
#define _MAX_SS 512 /* 512, 1024, 2048 or 4096 */
/* Maximum sector size to be handled.
/ Always set 512 for memory card and hard disk but a larger value may be
/ required for on-board flash memory, floppy disk and optical disk.
/ When _MAX_SS is larger than 512, it configures FatFs to variable sector size
/ and GET_SECTOR_SIZE command must be implememted to the disk_ioctl function. */
#define _MULTI_PARTITION 0 /* 0:Single partition, 1:Enable multiple partition */
/* When set to 0, each volume is bound to the same physical drive number and
/ it can mount only first primaly partition. When it is set to 1, each volume
/ is tied to the partitions listed in VolToPart[]. */
#define _USE_ERASE 0 /* 0:Disable or 1:Enable */
/* To enable sector erase feature, set _USE_ERASE to 1. CTRL_ERASE_SECTOR command
/ should be added to the disk_ioctl functio. */
/*---------------------------------------------------------------------------/
/ System Configurations
/----------------------------------------------------------------------------*/
#define _WORD_ACCESS 0 /* 0 or 1 */
/* Set 0 first and it is always compatible with all platforms. The _WORD_ACCESS
/ option defines which access method is used to the word data on the FAT volume.
/
/ 0: Byte-by-byte access.
/ 1: Word access. Do not choose this unless following condition is met.
/
/ When the byte order on the memory is big-endian or address miss-aligned word
/ access results incorrect behavior, the _WORD_ACCESS must be set to 0.
/ If it is not the case, the value can also be set to 1 to improve the
/ performance and code size.
*/
/* A header file that defines sync object types on the O/S, such as
/ windows.h, ucos_ii.h and semphr.h, must be included prior to ff.h. */
#if defined(CPUARM)
#define _FS_REENTRANT 1 /* 0:Disable or 1:Enable */
#define _SYNC_t unsigned char /*OS_MutexID*/ /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */
#else
#define _FS_REENTRANT 0 /* 0:Disable or 1:Enable */
#endif
#define _FS_TIMEOUT 1000 /* Timeout period in unit of time ticks */
/* The _FS_REENTRANT option switches the reentrancy (thread safe) of the FatFs module.
/
/ 0: Disable reentrancy. _SYNC_t and _FS_TIMEOUT have no effect.
/ 1: Enable reentrancy. Also user provided synchronization handlers,
/ ff_req_grant, ff_rel_grant, ff_del_syncobj and ff_cre_syncobj
/ function must be added to the project. */
#define _FS_LOCK 0 /* 0:Disable or >=1:Enable */
/* To enable file lock control feature, set _FS_LOCK to 1 or greater.
The value defines how many files can be opened simultaneously. */
#endif /* _FFCONFIG */
radio/src/FatFs/integer.h
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/*-------------------------------------------*/
/* Integer type definitions for FatFs module */
/*-------------------------------------------*/
#ifndef _INTEGER
#define _INTEGER
#ifdef _WIN32 /* FatFs development platform */
#include <windows.h>
#include <tchar.h>
#else /* Embedded platform */
/* These types must be 16-bit, 32-bit or larger integer */
typedef int INT;
typedef unsigned int UINT;
/* These types must be 8-bit integer */
typedef char CHAR;
typedef unsigned char UCHAR;
typedef unsigned char BYTE;
/* These types must be 16-bit integer */
typedef short SHORT;
typedef unsigned short USHORT;
typedef unsigned short WORD;
typedef unsigned short WCHAR;
/* These types must be 32-bit integer */
typedef long LONG;
typedef unsigned long ULONG;
typedef unsigned long DWORD;
#endif
#endif
radio/src/FatFs/option/cc932.c
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radio/src/FatFs/option/cc936.c
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radio/src/FatFs/option/cc949.c
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radio/src/FatFs/option/cc950.c
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radio/src/FatFs/option/ccsbcs.c
+540
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/*------------------------------------------------------------------------*/
/* Unicode - Local code bidirectional converter (C)ChaN, 2012 */
/* (SBCS code pages) */
/*------------------------------------------------------------------------*/
/* 437 U.S. (OEM)
/ 720 Arabic (OEM)
/ 1256 Arabic (Windows)
/ 737 Greek (OEM)
/ 1253 Greek (Windows)
/ 1250 Central Europe (Windows)
/ 775 Baltic (OEM)
/ 1257 Baltic (Windows)
/ 850 Multilingual Latin 1 (OEM)
/ 852 Latin 2 (OEM)
/ 1252 Latin 1 (Windows)
/ 855 Cyrillic (OEM)
/ 1251 Cyrillic (Windows)
/ 866 Russian (OEM)
/ 857 Turkish (OEM)
/ 1254 Turkish (Windows)
/ 858 Multilingual Latin 1 + Euro (OEM)
/ 862 Hebrew (OEM)
/ 1255 Hebrew (Windows)
/ 874 Thai (OEM, Windows)
/ 1258 Vietnam (OEM, Windows)
*/
#include "../ff.h"
#if _CODE_PAGE == 437
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP437(0x80-0xFF) to Unicode conversion table */
0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5,
0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
0x00FF, 0x00D6, 0x00DC, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192,
0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4,
0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229,
0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248,
0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 720
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP720(0x80-0xFF) to Unicode conversion table */
0x0000, 0x0000, 0x00E9, 0x00E2, 0x0000, 0x00E0, 0x0000, 0x00E7,
0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0000, 0x0000, 0x0000,
0x0000, 0x0651, 0x0652, 0x00F4, 0x00A4, 0x0640, 0x00FB, 0x00F9,
0x0621, 0x0622, 0x0623, 0x0624, 0x00A3, 0x0625, 0x0626, 0x0627,
0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F,
0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
0x0636, 0x0637, 0x0638, 0x0639, 0x063A, 0x0641, 0x00B5, 0x0642,
0x0643, 0x0644, 0x0645, 0x0646, 0x0647, 0x0648, 0x0649, 0x064A,
0x2261, 0x064B, 0x064C, 0x064D, 0x064E, 0x064F, 0x0650, 0x2248,
0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 737
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP737(0x80-0xFF) to Unicode conversion table */
0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397, 0x0398,
0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F, 0x03A0,
0x03A1, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7, 0x03A8, 0x03A9,
0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7, 0x03B8,
0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF, 0x03C0,
0x03C1, 0x03C3, 0x03C2, 0x03C4, 0x03C5, 0x03C6, 0x03C7, 0x03C8,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
0x03C9, 0x03AC, 0x03AD, 0x03AE, 0x03CA, 0x03AF, 0x03CC, 0x03CD,
0x03CB, 0x03CE, 0x0386, 0x0388, 0x0389, 0x038A, 0x038C, 0x038E,
0x038F, 0x00B1, 0x2265, 0x2264, 0x03AA, 0x03AB, 0x00F7, 0x2248,
0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 775
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP775(0x80-0xFF) to Unicode conversion table */
0x0106, 0x00FC, 0x00E9, 0x0101, 0x00E4, 0x0123, 0x00E5, 0x0107,
0x0142, 0x0113, 0x0156, 0x0157, 0x012B, 0x0179, 0x00C4, 0x00C5,
0x00C9, 0x00E6, 0x00C6, 0x014D, 0x00F6, 0x0122, 0x00A2, 0x015A,
0x015B, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x00A4,
0x0100, 0x012A, 0x00F3, 0x017B, 0x017C, 0x017A, 0x201D, 0x00A6,
0x00A9, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x0141, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0104, 0x010C, 0x0118,
0x0116, 0x2563, 0x2551, 0x2557, 0x255D, 0x012E, 0x0160, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0172, 0x016A,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x017D,
0x0105, 0x010D, 0x0119, 0x0117, 0x012F, 0x0161, 0x0173, 0x016B,
0x017E, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
0x00D3, 0x00DF, 0x014C, 0x0143, 0x00F5, 0x00D5, 0x00B5, 0x0144,
0x0136, 0x0137, 0x013B, 0x013C, 0x0146, 0x0112, 0x0145, 0x2019,
0x00AD, 0x00B1, 0x201C, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x201E,
0x00B0, 0x2219, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 850
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP850(0x80-0xFF) to Unicode conversion table */
0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5,
0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192,
0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0,
0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x0131, 0x00CD, 0x00CE,
0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580,
0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE,
0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4,
0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8,
0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 852
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP852(0x80-0xFF) to Unicode conversion table */
0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x016F, 0x0107, 0x00E7,
0x0142, 0x00EB, 0x0150, 0x0151, 0x00EE, 0x0179, 0x00C4, 0x0106,
0x00C9, 0x0139, 0x013A, 0x00F4, 0x00F6, 0x013D, 0x013E, 0x015A,
0x015B, 0x00D6, 0x00DC, 0x0164, 0x0165, 0x0141, 0x00D7, 0x010D,
0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x0104, 0x0105, 0x017D, 0x017E,
0x0118, 0x0119, 0x00AC, 0x017A, 0x010C, 0x015F, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x011A,
0x015E, 0x2563, 0x2551, 0x2557, 0x255D, 0x017B, 0x017C, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0102, 0x0103,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
0x0111, 0x0110, 0x010E, 0x00CB, 0x010F, 0x0147, 0x00CD, 0x00CE,
0x011B, 0x2518, 0x250C, 0x2588, 0x2584, 0x0162, 0x016E, 0x2580,
0x00D3, 0x00DF, 0x00D4, 0x0143, 0x0144, 0x0148, 0x0160, 0x0161,
0x0154, 0x00DA, 0x0155, 0x0170, 0x00FD, 0x00DD, 0x0163, 0x00B4,
0x00AD, 0x02DD, 0x02DB, 0x02C7, 0x02D8, 0x00A7, 0x00F7, 0x00B8,
0x00B0, 0x00A8, 0x02D9, 0x0171, 0x0158, 0x0159, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 855
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP855(0x80-0xFF) to Unicode conversion table */
0x0452, 0x0402, 0x0453, 0x0403, 0x0451, 0x0401, 0x0454, 0x0404,
0x0455, 0x0405, 0x0456, 0x0406, 0x0457, 0x0407, 0x0458, 0x0408,
0x0459, 0x0409, 0x045A, 0x040A, 0x045B, 0x040B, 0x045C, 0x040C,
0x045E, 0x040E, 0x045F, 0x040F, 0x044E, 0x042E, 0x044A, 0x042A,
0x0430, 0x0410, 0x0431, 0x0411, 0x0446, 0x0426, 0x0434, 0x0414,
0x0435, 0x0415, 0x0444, 0x0424, 0x0433, 0x0413, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0445, 0x0425, 0x0438,
0x0418, 0x2563, 0x2551, 0x2557, 0x255D, 0x0439, 0x0419, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x043A, 0x041A,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
0x043B, 0x041B, 0x043C, 0x041C, 0x043D, 0x041D, 0x043E, 0x041E,
0x043F, 0x2518, 0x250C, 0x2588, 0x2584, 0x041F, 0x044F, 0x2580,
0x042F, 0x0440, 0x0420, 0x0441, 0x0421, 0x0442, 0x0422, 0x0443,
0x0423, 0x0436, 0x0416, 0x0432, 0x0412, 0x044C, 0x042C, 0x2116,
0x00AD, 0x044B, 0x042B, 0x0437, 0x0417, 0x0448, 0x0428, 0x044D,
0x042D, 0x0449, 0x0429, 0x0447, 0x0427, 0x00A7, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 857
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP857(0x80-0xFF) to Unicode conversion table */
0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0131, 0x00C4, 0x00C5,
0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
0x0130, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x015E, 0x015F,
0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x011E, 0x011F,
0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0,
0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
0x00BA, 0x00AA, 0x00CA, 0x00CB, 0x00C8, 0x0000, 0x00CD, 0x00CE,
0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580,
0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x0000,
0x00D7, 0x00DA, 0x00DB, 0x00D9, 0x00EC, 0x00FF, 0x00AF, 0x00B4,
0x00AD, 0x00B1, 0x0000, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8,
0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 858
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP858(0x80-0xFF) to Unicode conversion table */
0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7,
0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5,
0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9,
0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192,
0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0,
0x00A9, 0x2563, 0x2551, 0x2557, 0x2550, 0x00A2, 0x00A5, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4,
0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x20AC, 0x00CD, 0x00CE,
0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00C6, 0x00CC, 0x2580,
0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE,
0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4,
0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8,
0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 862
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP862(0x80-0xFF) to Unicode conversion table */
0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7,
0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF,
0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7,
0x05E8, 0x05E9, 0x05EA, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192,
0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA,
0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4,
0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229,
0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248,
0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 866
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP866(0x80-0xFF) to Unicode conversion table */
0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417,
0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F,
0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427,
0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F,
0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437,
0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F,
0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556,
0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510,
0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F,
0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567,
0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B,
0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580,
0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447,
0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F,
0x0401, 0x0451, 0x0404, 0x0454, 0x0407, 0x0457, 0x040E, 0x045E,
0x00B0, 0x2219, 0x00B7, 0x221A, 0x2116, 0x00A4, 0x25A0, 0x00A0
};
#elif _CODE_PAGE == 874
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP874(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x0000, 0x0000, 0x0000, 0x2026, 0x0000, 0x0000,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x00A0, 0x0E01, 0x0E02, 0x0E03, 0x0E04, 0x0E05, 0x0E06, 0x0E07,
0x0E08, 0x0E09, 0x0E0A, 0x0E0B, 0x0E0C, 0x0E0D, 0x0E0E, 0x0E0F,
0x0E10, 0x0E11, 0x0E12, 0x0E13, 0x0E14, 0x0E15, 0x0E16, 0x0E17,
0x0E18, 0x0E19, 0x0E1A, 0x0E1B, 0x0E1C, 0x0E1D, 0x0E1E, 0x0E1F,
0x0E20, 0x0E21, 0x0E22, 0x0E23, 0x0E24, 0x0E25, 0x0E26, 0x0E27,
0x0E28, 0x0E29, 0x0E2A, 0x0E2B, 0x0E2C, 0x0E2D, 0x0E2E, 0x0E2F,
0x0E30, 0x0E31, 0x0E32, 0x0E33, 0x0E34, 0x0E35, 0x0E36, 0x0E37,
0x0E38, 0x0E39, 0x0E3A, 0x0000, 0x0000, 0x0000, 0x0000, 0x0E3F,
0x0E40, 0x0E41, 0x0E42, 0x0E43, 0x0E44, 0x0E45, 0x0E46, 0x0E47,
0x0E48, 0x0E49, 0x0E4A, 0x0E4B, 0x0E4C, 0x0E4D, 0x0E4E, 0x0E4F,
0x0E50, 0x0E51, 0x0E52, 0x0E53, 0x0E54, 0x0E55, 0x0E56, 0x0E57,
0x0E58, 0x0E59, 0x0E5A, 0x0E5B, 0x0000, 0x0000, 0x0000, 0x0000
};
#elif _CODE_PAGE == 1250
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1250(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x201A, 0x0000, 0x201E, 0x2026, 0x2020, 0x2021,
0x0000, 0x2030, 0x0160, 0x2039, 0x015A, 0x0164, 0x017D, 0x0179,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x0000, 0x2122, 0x0161, 0x203A, 0x015B, 0x0165, 0x017E, 0x017A,
0x00A0, 0x02C7, 0x02D8, 0x0141, 0x00A4, 0x0104, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x015E, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x017B,
0x00B0, 0x00B1, 0x02DB, 0x0142, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x0105, 0x015F, 0x00BB, 0x013D, 0x02DD, 0x013E, 0x017C,
0x0154, 0x00C1, 0x00C2, 0x0102, 0x00C4, 0x0139, 0x0106, 0x00C7,
0x010C, 0x00C9, 0x0118, 0x00CB, 0x011A, 0x00CD, 0x00CE, 0x010E,
0x0110, 0x0143, 0x0147, 0x00D3, 0x00D4, 0x0150, 0x00D6, 0x00D7,
0x0158, 0x016E, 0x00DA, 0x0170, 0x00DC, 0x00DD, 0x0162, 0x00DF,
0x0155, 0x00E1, 0x00E2, 0x0103, 0x00E4, 0x013A, 0x0107, 0x00E7,
0x010D, 0x00E9, 0x0119, 0x00EB, 0x011B, 0x00ED, 0x00EE, 0x010F,
0x0111, 0x0144, 0x0148, 0x00F3, 0x00F4, 0x0151, 0x00F6, 0x00F7,
0x0159, 0x016F, 0x00FA, 0x0171, 0x00FC, 0x00FD, 0x0163, 0x02D9
};
#elif _CODE_PAGE == 1251
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1251(0x80-0xFF) to Unicode conversion table */
0x0402, 0x0403, 0x201A, 0x0453, 0x201E, 0x2026, 0x2020, 0x2021,
0x20AC, 0x2030, 0x0409, 0x2039, 0x040A, 0x040C, 0x040B, 0x040F,
0x0452, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x0000, 0x2111, 0x0459, 0x203A, 0x045A, 0x045C, 0x045B, 0x045F,
0x00A0, 0x040E, 0x045E, 0x0408, 0x00A4, 0x0490, 0x00A6, 0x00A7,
0x0401, 0x00A9, 0x0404, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x0407,
0x00B0, 0x00B1, 0x0406, 0x0456, 0x0491, 0x00B5, 0x00B6, 0x00B7,
0x0451, 0x2116, 0x0454, 0x00BB, 0x0458, 0x0405, 0x0455, 0x0457,
0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417,
0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F,
0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427,
0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F,
0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437,
0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F,
0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447,
0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F
};
#elif _CODE_PAGE == 1252
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1252(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
0x02C6, 0x2030, 0x0160, 0x2039, 0x0152, 0x0000, 0x017D, 0x0000,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x02DC, 0x2122, 0x0161, 0x203A, 0x0153, 0x0000, 0x017E, 0x0178,
0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
0x00C0, 0x00C1, 0x00C2, 0x00C3, 0x00C4, 0x00C5, 0x00C6, 0x00C7,
0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x00CC, 0x00CD, 0x00CE, 0x00CF,
0x00D0, 0x00D1, 0x00D2, 0x00D3, 0x00D4, 0x00D5, 0x00D6, 0x00D7,
0x00D8, 0x00D9, 0x00DA, 0x00DB, 0x00DC, 0x00DD, 0x00DE, 0x00DF,
0x00E0, 0x00E1, 0x00E2, 0x00E3, 0x00E4, 0x00E5, 0x00E6, 0x00E7,
0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x00EC, 0x00ED, 0x00EE, 0x00EF,
0x00F0, 0x00F1, 0x00F2, 0x00F3, 0x00F4, 0x00F5, 0x00F6, 0x00F7,
0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x00FD, 0x00FE, 0x00FF
};
#elif _CODE_PAGE == 1253
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1253(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
0x0000, 0x2030, 0x0000, 0x2039, 0x000C, 0x0000, 0x0000, 0x0000,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x0000, 0x2122, 0x0000, 0x203A, 0x0000, 0x0000, 0x0000, 0x0000,
0x00A0, 0x0385, 0x0386, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x0000, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x2015,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x0384, 0x00B5, 0x00B6, 0x00B7,
0x0388, 0x0389, 0x038A, 0x00BB, 0x038C, 0x00BD, 0x038E, 0x038F,
0x0390, 0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397,
0x0398, 0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F,
0x03A0, 0x03A1, 0x0000, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7,
0x03A8, 0x03A9, 0x03AA, 0x03AD, 0x03AC, 0x03AD, 0x03AE, 0x03AF,
0x03B0, 0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7,
0x03B8, 0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF,
0x03C0, 0x03C1, 0x03C2, 0x03C3, 0x03C4, 0x03C5, 0x03C6, 0x03C7,
0x03C8, 0x03C9, 0x03CA, 0x03CB, 0x03CC, 0x03CD, 0x03CE, 0x0000
};
#elif _CODE_PAGE == 1254
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1254(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x210A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
0x02C6, 0x2030, 0x0160, 0x2039, 0x0152, 0x0000, 0x0000, 0x0000,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x02DC, 0x2122, 0x0161, 0x203A, 0x0153, 0x0000, 0x0000, 0x0178,
0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
0x00C0, 0x00C1, 0x00C2, 0x00C3, 0x00C4, 0x00C5, 0x00C6, 0x00C7,
0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x00CC, 0x00CD, 0x00CE, 0x00CF,
0x011E, 0x00D1, 0x00D2, 0x00D3, 0x00D4, 0x00D5, 0x00D6, 0x00D7,
0x00D8, 0x00D9, 0x00DA, 0x00BD, 0x00DC, 0x0130, 0x015E, 0x00DF,
0x00E0, 0x00E1, 0x00E2, 0x00E3, 0x00E4, 0x00E5, 0x00E6, 0x00E7,
0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x00EC, 0x00ED, 0x00EE, 0x00EF,
0x011F, 0x00F1, 0x00F2, 0x00F3, 0x00F4, 0x00F5, 0x00F6, 0x00F7,
0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x0131, 0x015F, 0x00FF
};
#elif _CODE_PAGE == 1255
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1255(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
0x02C6, 0x2030, 0x0000, 0x2039, 0x0000, 0x0000, 0x0000, 0x0000,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x02DC, 0x2122, 0x0000, 0x203A, 0x0000, 0x0000, 0x0000, 0x0000,
0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x00D7, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x00B9, 0x00F7, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
0x05B0, 0x05B1, 0x05B2, 0x05B3, 0x05B4, 0x05B5, 0x05B6, 0x05B7,
0x05B8, 0x05B9, 0x0000, 0x05BB, 0x05BC, 0x05BD, 0x05BE, 0x05BF,
0x05C0, 0x05C1, 0x05C2, 0x05C3, 0x05F0, 0x05F1, 0x05F2, 0x05F3,
0x05F4, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000,
0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7,
0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF,
0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7,
0x05E8, 0x05E9, 0x05EA, 0x0000, 0x0000, 0x200E, 0x200F, 0x0000
};
#elif _CODE_PAGE == 1256
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1256(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x067E, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
0x02C6, 0x2030, 0x0679, 0x2039, 0x0152, 0x0686, 0x0698, 0x0688,
0x06AF, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x06A9, 0x2122, 0x0691, 0x203A, 0x0153, 0x200C, 0x200D, 0x06BA,
0x00A0, 0x060C, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x06BE, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x00B9, 0x061B, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x061F,
0x06C1, 0x0621, 0x0622, 0x0623, 0x0624, 0x0625, 0x0626, 0x0627,
0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F,
0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x0636, 0x00D7,
0x0637, 0x0638, 0x0639, 0x063A, 0x0640, 0x0640, 0x0642, 0x0643,
0x00E0, 0x0644, 0x00E2, 0x0645, 0x0646, 0x0647, 0x0648, 0x00E7,
0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x0649, 0x064A, 0x00EE, 0x00EF,
0x064B, 0x064C, 0x064D, 0x064E, 0x00F4, 0x064F, 0x0650, 0x00F7,
0x0651, 0x00F9, 0x0652, 0x00FB, 0x00FC, 0x200E, 0x200F, 0x06D2
}
#elif _CODE_PAGE == 1257
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1257(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x201A, 0x0000, 0x201E, 0x2026, 0x2020, 0x2021,
0x0000, 0x2030, 0x0000, 0x2039, 0x0000, 0x00A8, 0x02C7, 0x00B8,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x0000, 0x2122, 0x0000, 0x203A, 0x0000, 0x00AF, 0x02DB, 0x0000,
0x00A0, 0x0000, 0x00A2, 0x00A3, 0x00A4, 0x0000, 0x00A6, 0x00A7,
0x00D8, 0x00A9, 0x0156, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x00B9, 0x0157, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00E6,
0x0104, 0x012E, 0x0100, 0x0106, 0x00C4, 0x00C5, 0x0118, 0x0112,
0x010C, 0x00C9, 0x0179, 0x0116, 0x0122, 0x0136, 0x012A, 0x013B,
0x0160, 0x0143, 0x0145, 0x00D3, 0x014C, 0x00D5, 0x00D6, 0x00D7,
0x0172, 0x0141, 0x015A, 0x016A, 0x00DC, 0x017B, 0x017D, 0x00DF,
0x0105, 0x012F, 0x0101, 0x0107, 0x00E4, 0x00E5, 0x0119, 0x0113,
0x010D, 0x00E9, 0x017A, 0x0117, 0x0123, 0x0137, 0x012B, 0x013C,
0x0161, 0x0144, 0x0146, 0x00F3, 0x014D, 0x00F5, 0x00F6, 0x00F7,
0x0173, 0x014E, 0x015B, 0x016B, 0x00FC, 0x017C, 0x017E, 0x02D9
};
#elif _CODE_PAGE == 1258
#define _TBLDEF 1
static
const WCHAR Tbl[] = { /* CP1258(0x80-0xFF) to Unicode conversion table */
0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021,
0x02C6, 0x2030, 0x0000, 0x2039, 0x0152, 0x0000, 0x0000, 0x0000,
0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014,
0x02DC, 0x2122, 0x0000, 0x203A, 0x0153, 0x0000, 0x0000, 0x0178,
0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7,
0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF,
0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7,
0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF,
0x00C0, 0x00C1, 0x00C2, 0x0102, 0x00C4, 0x00C5, 0x00C6, 0x00C7,
0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x0300, 0x00CD, 0x00CE, 0x00CF,
0x0110, 0x00D1, 0x0309, 0x00D3, 0x00D4, 0x01A0, 0x00D6, 0x00D7,
0x00D8, 0x00D9, 0x00DA, 0x00DB, 0x00DC, 0x01AF, 0x0303, 0x00DF,
0x00E0, 0x00E1, 0x00E2, 0x0103, 0x00E4, 0x00E5, 0x00E6, 0x00E7,
0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x0301, 0x00ED, 0x00EE, 0x00EF,
0x0111, 0x00F1, 0x0323, 0x00F3, 0x00F4, 0x01A1, 0x00F6, 0x00F7,
0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x01B0, 0x20AB, 0x00FF
};
#endif
#if !_TBLDEF || !_USE_LFN
#error This file is not needed in current configuration. Remove from the project.
#endif
WCHAR ff_convert ( /* Converted character, Returns zero on error */
WCHAR chr, /* Character code to be converted */
UINT dir /* 0: Unicode to OEMCP, 1: OEMCP to Unicode */
)
{
WCHAR c;
if (chr < 0x80) { /* ASCII */
c = chr;
} else {
if (dir) { /* OEMCP to Unicode */
c = (chr >= 0x100) ? 0 : Tbl[chr - 0x80];
} else { /* Unicode to OEMCP */
for (c = 0; c < 0x80; c++) {
if (chr == Tbl[c]) break;
}
c = (c + 0x80) & 0xFF;
}
}
return c;
}
WCHAR ff_wtoupper ( /* Upper converted character */
WCHAR chr /* Input character */
)
{
static const WCHAR tbl_lower[] = { 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7A, 0xA1, 0x00A2, 0x00A3, 0x00A5, 0x00AC, 0x00AF, 0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF, 0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE, 0x0FF, 0x101, 0x103, 0x105, 0x107, 0x109, 0x10B, 0x10D, 0x10F, 0x111, 0x113, 0x115, 0x117, 0x119, 0x11B, 0x11D, 0x11F, 0x121, 0x123, 0x125, 0x127, 0x129, 0x12B, 0x12D, 0x12F, 0x131, 0x133, 0x135, 0x137, 0x13A, 0x13C, 0x13E, 0x140, 0x142, 0x144, 0x146, 0x148, 0x14B, 0x14D, 0x14F, 0x151, 0x153, 0x155, 0x157, 0x159, 0x15B, 0x15D, 0x15F, 0x161, 0x163, 0x165, 0x167, 0x169, 0x16B, 0x16D, 0x16F, 0x171, 0x173, 0x175, 0x177, 0x17A, 0x17C, 0x17E, 0x192, 0x3B1, 0x3B2, 0x3B3, 0x3B4, 0x3B5, 0x3B6, 0x3B7, 0x3B8, 0x3B9, 0x3BA, 0x3BB, 0x3BC, 0x3BD, 0x3BE, 0x3BF, 0x3C0, 0x3C1, 0x3C3, 0x3C4, 0x3C5, 0x3C6, 0x3C7, 0x3C8, 0x3C9, 0x3CA, 0x430, 0x431, 0x432, 0x433, 0x434, 0x435, 0x436, 0x437, 0x438, 0x439, 0x43A, 0x43B, 0x43C, 0x43D, 0x43E, 0x43F, 0x440, 0x441, 0x442, 0x443, 0x444, 0x445, 0x446, 0x447, 0x448, 0x449, 0x44A, 0x44B, 0x44C, 0x44D, 0x44E, 0x44F, 0x451, 0x452, 0x453, 0x454, 0x455, 0x456, 0x457, 0x458, 0x459, 0x45A, 0x45B, 0x45C, 0x45E, 0x45F, 0x2170, 0x2171, 0x2172, 0x2173, 0x2174, 0x2175, 0x2176, 0x2177, 0x2178, 0x2179, 0x217A, 0x217B, 0x217C, 0x217D, 0x217E, 0x217F, 0xFF41, 0xFF42, 0xFF43, 0xFF44, 0xFF45, 0xFF46, 0xFF47, 0xFF48, 0xFF49, 0xFF4A, 0xFF4B, 0xFF4C, 0xFF4D, 0xFF4E, 0xFF4F, 0xFF50, 0xFF51, 0xFF52, 0xFF53, 0xFF54, 0xFF55, 0xFF56, 0xFF57, 0xFF58, 0xFF59, 0xFF5A, 0 };
static const WCHAR tbl_upper[] = { 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x21, 0xFFE0, 0xFFE1, 0xFFE5, 0xFFE2, 0xFFE3, 0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF, 0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0x178, 0x100, 0x102, 0x104, 0x106, 0x108, 0x10A, 0x10C, 0x10E, 0x110, 0x112, 0x114, 0x116, 0x118, 0x11A, 0x11C, 0x11E, 0x120, 0x122, 0x124, 0x126, 0x128, 0x12A, 0x12C, 0x12E, 0x130, 0x132, 0x134, 0x136, 0x139, 0x13B, 0x13D, 0x13F, 0x141, 0x143, 0x145, 0x147, 0x14A, 0x14C, 0x14E, 0x150, 0x152, 0x154, 0x156, 0x158, 0x15A, 0x15C, 0x15E, 0x160, 0x162, 0x164, 0x166, 0x168, 0x16A, 0x16C, 0x16E, 0x170, 0x172, 0x174, 0x176, 0x179, 0x17B, 0x17D, 0x191, 0x391, 0x392, 0x393, 0x394, 0x395, 0x396, 0x397, 0x398, 0x399, 0x39A, 0x39B, 0x39C, 0x39D, 0x39E, 0x39F, 0x3A0, 0x3A1, 0x3A3, 0x3A4, 0x3A5, 0x3A6, 0x3A7, 0x3A8, 0x3A9, 0x3AA, 0x410, 0x411, 0x412, 0x413, 0x414, 0x415, 0x416, 0x417, 0x418, 0x419, 0x41A, 0x41B, 0x41C, 0x41D, 0x41E, 0x41F, 0x420, 0x421, 0x422, 0x423, 0x424, 0x425, 0x426, 0x427, 0x428, 0x429, 0x42A, 0x42B, 0x42C, 0x42D, 0x42E, 0x42F, 0x401, 0x402, 0x403, 0x404, 0x405, 0x406, 0x407, 0x408, 0x409, 0x40A, 0x40B, 0x40C, 0x40E, 0x40F, 0x2160, 0x2161, 0x2162, 0x2163, 0x2164, 0x2165, 0x2166, 0x2167, 0x2168, 0x2169, 0x216A, 0x216B, 0x216C, 0x216D, 0x216E, 0x216F, 0xFF21, 0xFF22, 0xFF23, 0xFF24, 0xFF25, 0xFF26, 0xFF27, 0xFF28, 0xFF29, 0xFF2A, 0xFF2B, 0xFF2C, 0xFF2D, 0xFF2E, 0xFF2F, 0xFF30, 0xFF31, 0xFF32, 0xFF33, 0xFF34, 0xFF35, 0xFF36, 0xFF37, 0xFF38, 0xFF39, 0xFF3A, 0 };
int i;
for (i = 0; tbl_lower[i] && chr != tbl_lower[i]; i++) ;
return tbl_lower[i] ? tbl_upper[i] : chr;
}
radio/src/FatFs/option/syscall.c
+155
View File
@@ -0,0 +1,155 @@
/*------------------------------------------------------------------------*/
/* Sample code of OS dependent controls for FatFs */
/* (C)ChaN, 2012 */
/*------------------------------------------------------------------------*/
#include <stdlib.h> /* ANSI memory controls */
#include <malloc.h> /* ANSI memory controls */
#include "../ff.h"
#if _FS_REENTRANT
/*------------------------------------------------------------------------*/
/* Create a Synchronization Object
/*------------------------------------------------------------------------*/
/* This function is called in f_mount function to create a new
/ synchronization object, such as semaphore and mutex. When a FALSE is
/ returned, the f_mount function fails with FR_INT_ERR.
*/
int ff_cre_syncobj ( /* 1:Function succeeded, 0:Could not create due to any error */
BYTE vol, /* Corresponding logical drive being processed */
_SYNC_t *sobj /* Pointer to return the created sync object */
)
{
int ret;
// static _SYNC_t sem[_VOLUMES]; /* FreeRTOS */
*sobj = CreateMutex(NULL, FALSE, NULL); /* Win32 */
ret = (*sobj != INVALID_HANDLE_VALUE);
// *sobj = SyncObjects[vol]; /* uITRON (give a static created sync object) */
// ret = 1; /* The initial value of the semaphore must be 1. */
// *sobj = OSMutexCreate(0, &err); /* uC/OS-II */
// ret = (err == OS_NO_ERR);
// if (!sem[vol]) /* FreeRTOS */
// sem[vol] = xSemaphoreCreateMutex();
// *sobj = sem[vol];
// ret = (*sobj != NULL);
return ret;
}
/*------------------------------------------------------------------------*/
/* Delete a Synchronization Object */
/*------------------------------------------------------------------------*/
/* This function is called in f_mount function to delete a synchronization
/ object that created with ff_cre_syncobj function. When a FALSE is
/ returned, the f_mount function fails with FR_INT_ERR.
*/
int ff_del_syncobj ( /* 1:Function succeeded, 0:Could not delete due to any error */
_SYNC_t sobj /* Sync object tied to the logical drive to be deleted */
)
{
int ret;
ret = CloseHandle(sobj); /* Win32 */
// ret = 1; /* uITRON (nothing to do) */
// OSMutexDel(sobj, OS_DEL_ALWAYS, &err); /* uC/OS-II */
// ret = (err == OS_NO_ERR);
// ret = 1; /* FreeRTOS (nothing to do) */
return ret;
}
/*------------------------------------------------------------------------*/
/* Request Grant to Access the Volume */
/*------------------------------------------------------------------------*/
/* This function is called on entering file functions to lock the volume.
/ When a FALSE is returned, the file function fails with FR_TIMEOUT.
*/
int ff_req_grant ( /* TRUE:Got a grant to access the volume, FALSE:Could not get a grant */
_SYNC_t sobj /* Sync object to wait */
)
{
int ret;
ret = (WaitForSingleObject(sobj, _FS_TIMEOUT) == WAIT_OBJECT_0); /* Win32 */
// ret = (wai_sem(sobj) == E_OK); /* uITRON */
// OSMutexPend(sobj, _FS_TIMEOUT, &err)); /* uC/OS-II */
// ret = (err == OS_NO_ERR);
// ret = (xSemaphoreTake(sobj, _FS_TIMEOUT) == pdTRUE); /* FreeRTOS */
return ret;
}
/*------------------------------------------------------------------------*/
/* Release Grant to Access the Volume */
/*------------------------------------------------------------------------*/
/* This function is called on leaving file functions to unlock the volume.
*/
void ff_rel_grant (
_SYNC_t sobj /* Sync object to be signaled */
)
{
ReleaseMutex(sobj); /* Win32 */
// sig_sem(sobj); /* uITRON */
// OSMutexPost(sobj); /* uC/OS-II */
// xSemaphoreGive(sobj); /* FreeRTOS */
}
#endif
#if _USE_LFN == 3 /* LFN with a working buffer on the heap */
/*------------------------------------------------------------------------*/
/* Allocate a memory block */
/*------------------------------------------------------------------------*/
/* If a NULL is returned, the file function fails with FR_NOT_ENOUGH_CORE.
*/
void* ff_memalloc ( /* Returns pointer to the allocated memory block */
UINT msize /* Number of bytes to allocate */
)
{
return malloc(msize);
}
/*------------------------------------------------------------------------*/
/* Free a memory block */
/*------------------------------------------------------------------------*/
void ff_memfree (
void* mblock /* Pointer to the memory block to free */
)
{
free(mblock);
}
#endif
radio/src/FatFs/option/unicode.c
+17
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@@ -0,0 +1,17 @@
#include "../ff.h"
#if _USE_LFN != 0
#if _CODE_PAGE == 932
#include "cc932.c"
#elif _CODE_PAGE == 936
#include "cc936.c"
#elif _CODE_PAGE == 949
#include "cc949.c"
#elif _CODE_PAGE == 950
#include "cc950.c"
#else
#include "ccsbcs.c"
#endif
#endif
radio/src/GCS_MAVLink/.gitignore
+3
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@@ -0,0 +1,3 @@
*~
doc/html
doc/*.log
radio/src/GCS_MAVLink/COPYING
+165
View File
@@ -0,0 +1,165 @@
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
without being bound by section 3 of the GNU GPL.
2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
facility refers to a function or data to be supplied by an Application
that uses the facility (other than as an argument passed when the
facility is invoked), then you may convey a copy of the modified
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a) under this License, provided that you make a good faith effort to
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function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
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The object code form of an Application may incorporate material from
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material is not limited to numerical parameters, data structure
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You may convey a Combined Work under terms of your choice that,
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radio/src/GCS_MAVLink/README
+29
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@@ -0,0 +1,29 @@
MAVLink Micro Air Vehicle Message Marshalling Library
This is a library for lightweight communication between
Micro Air Vehicles (swarm) and/or ground control stations.
It serializes C-structs for serial channels and can be used with
any type of radio modem.
For help, please visit the mailing list: http://groups.google.com/group/mavlink
MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL).
As MAVLink is a header-only library, compiling an application with it is considered "using the libary", not a derived work. MAVLink can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.
To generate/update packets, select mavlink_standard_message.xml
in the QGroundControl station settings view, select mavlink/include as
the output directory and click on "Save and Generate".
You will find the newly generated/updated message_xx.h files in
the mavlink/include/generated folder.
To use MAVLink, #include the <mavlink.h> file, not the individual
message files. In some cases you will have to add the main folder to the include search path as well. To be safe, we recommend these flags:
gcc -I mavlink/include -I mavlink/include/<your message set, e.g. common>
For more information, please visit:
http://qgroundcontrol.org/mavlink/
(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/ardupilotmega.h
+187
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File diff suppressed because one or more lines are too long
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink.h
+27
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@@ -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 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
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ahrs.h
+309
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@@ -0,0 +1,309 @@
// MESSAGE AHRS PACKING
#define MAVLINK_MSG_ID_AHRS 163
typedef struct __mavlink_ahrs_t
{
float omegaIx; ///< X gyro drift estimate rad/s
float omegaIy; ///< Y gyro drift estimate rad/s
float omegaIz; ///< Z gyro drift estimate rad/s
float accel_weight; ///< average accel_weight
float renorm_val; ///< average renormalisation value
float error_rp; ///< average error_roll_pitch value
float error_yaw; ///< average error_yaw value
} mavlink_ahrs_t;
#define MAVLINK_MSG_ID_AHRS_LEN 28
#define MAVLINK_MSG_ID_163_LEN 28
#define MAVLINK_MSG_ID_AHRS_CRC 127
#define MAVLINK_MSG_ID_163_CRC 127
#define MAVLINK_MESSAGE_INFO_AHRS { \
"AHRS", \
7, \
{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
} \
}
/**
* @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS_LEN];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_LEN);
#endif
}
/**
* @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS_LEN];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_LEN);
#endif
}
/**
* @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Send a ahrs message
* @param chan MAVLink channel to send the message
*
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS_LEN];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN);
#endif
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_LEN);
#endif
#endif
}
#endif
// MESSAGE AHRS UNPACKING
/**
* @brief Get field omegaIx from ahrs message
*
* @return X gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field omegaIy from ahrs message
*
* @return Y gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field omegaIz from ahrs message
*
* @return Z gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field accel_weight from ahrs message
*
* @return average accel_weight
*/
static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field renorm_val from ahrs message
*
* @return average renormalisation value
*/
static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field error_rp from ahrs message
*
* @return average error_roll_pitch value
*/
static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field error_yaw from ahrs message
*
* @return average error_yaw value
*/
static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Decode a ahrs message into a struct
*
* @param msg The message to decode
* @param ahrs C-struct to decode the message contents into
*/
static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
{
#if MAVLINK_NEED_BYTE_SWAP
ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
#else
memcpy(ahrs, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ap_adc.h
+287
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@@ -0,0 +1,287 @@
// 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_MSG_ID_AP_ADC_CRC 188
#define MAVLINK_MSG_ID_153_CRC 188
#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[MAVLINK_MSG_ID_AP_ADC_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_AP_ADC_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_AP_ADC_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_AP_ADC_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AP_ADC;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
}
/**
* @brief Encode a ap_adc 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 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 Encode a ap_adc 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 ap_adc C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ap_adc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
{
return mavlink_msg_ap_adc_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_AP_ADC_LEN];
_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);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
#else
mavlink_ap_adc_t packet;
packet.adc1 = adc1;
packet.adc2 = adc2;
packet.adc3 = adc3;
packet.adc4 = adc4;
packet.adc5 = adc5;
packet.adc6 = adc6;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
#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), MAVLINK_MSG_ID_AP_ADC_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_data16.h
+215
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@@ -0,0 +1,215 @@
// 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
}
#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
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_data32.h
+215
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@@ -0,0 +1,215 @@
// 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
}
#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
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_data64.h
+215
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// 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
}
#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
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_data96.h
+215
View File
@@ -0,0 +1,215 @@
// 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
}
#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
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
+397
View File
@@ -0,0 +1,397 @@
// MESSAGE DIGICAM_CONFIGURE PACKING
#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE 154
typedef struct __mavlink_digicam_configure_t
{
float extra_value; ///< Correspondent value to given extra_param
uint16_t shutter_speed; ///< Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
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)
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)
} mavlink_digicam_configure_t;
#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN 15
#define MAVLINK_MSG_ID_154_LEN 15
#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC 84
#define MAVLINK_MSG_ID_154_CRC 84
#define MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE { \
"DIGICAM_CONFIGURE", \
11, \
{ { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_digicam_configure_t, extra_value) }, \
{ "shutter_speed", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_digicam_configure_t, shutter_speed) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_configure_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_configure_t, target_component) }, \
{ "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_configure_t, mode) }, \
{ "aperture", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_configure_t, aperture) }, \
{ "iso", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_configure_t, iso) }, \
{ "exposure_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_digicam_configure_t, exposure_type) }, \
{ "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_digicam_configure_t, command_id) }, \
{ "engine_cut_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_digicam_configure_t, engine_cut_off) }, \
{ "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_digicam_configure_t, extra_param) }, \
} \
}
/**
* @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[MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN];
_mav_put_float(buf, 0, extra_value);
_mav_put_uint16_t(buf, 4, shutter_speed);
_mav_put_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
_mav_put_uint8_t(buf, 8, mode);
_mav_put_uint8_t(buf, 9, aperture);
_mav_put_uint8_t(buf, 10, iso);
_mav_put_uint8_t(buf, 11, exposure_type);
_mav_put_uint8_t(buf, 12, command_id);
_mav_put_uint8_t(buf, 13, engine_cut_off);
_mav_put_uint8_t(buf, 14, extra_param);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#else
mavlink_digicam_configure_t packet;
packet.extra_value = extra_value;
packet.shutter_speed = shutter_speed;
packet.target_system = target_system;
packet.target_component = target_component;
packet.mode = mode;
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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN];
_mav_put_float(buf, 0, extra_value);
_mav_put_uint16_t(buf, 4, shutter_speed);
_mav_put_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
_mav_put_uint8_t(buf, 8, mode);
_mav_put_uint8_t(buf, 9, aperture);
_mav_put_uint8_t(buf, 10, iso);
_mav_put_uint8_t(buf, 11, exposure_type);
_mav_put_uint8_t(buf, 12, command_id);
_mav_put_uint8_t(buf, 13, engine_cut_off);
_mav_put_uint8_t(buf, 14, extra_param);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#else
mavlink_digicam_configure_t packet;
packet.extra_value = extra_value;
packet.shutter_speed = shutter_speed;
packet.target_system = target_system;
packet.target_component = target_component;
packet.mode = mode;
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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
}
/**
* @brief Encode a digicam_configure 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 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 Encode a digicam_configure 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 digicam_configure C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_digicam_configure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
{
return mavlink_msg_digicam_configure_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN];
_mav_put_float(buf, 0, extra_value);
_mav_put_uint16_t(buf, 4, shutter_speed);
_mav_put_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
_mav_put_uint8_t(buf, 8, mode);
_mav_put_uint8_t(buf, 9, aperture);
_mav_put_uint8_t(buf, 10, iso);
_mav_put_uint8_t(buf, 11, exposure_type);
_mav_put_uint8_t(buf, 12, command_id);
_mav_put_uint8_t(buf, 13, engine_cut_off);
_mav_put_uint8_t(buf, 14, extra_param);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
#else
mavlink_digicam_configure_t packet;
packet.extra_value = extra_value;
packet.shutter_speed = shutter_speed;
packet.target_system = target_system;
packet.target_component = target_component;
packet.mode = mode;
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;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
#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, 6);
}
/**
* @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, 7);
}
/**
* @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, 8);
}
/**
* @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, 4);
}
/**
* @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, 9);
}
/**
* @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, 10);
}
/**
* @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, 11);
}
/**
* @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, 12);
}
/**
* @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, 13);
}
/**
* @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, 14);
}
/**
* @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, 0);
}
/**
* @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->extra_value = mavlink_msg_digicam_configure_get_extra_value(msg);
digicam_configure->shutter_speed = mavlink_msg_digicam_configure_get_shutter_speed(msg);
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->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);
#else
memcpy(digicam_configure, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_digicam_control.h
+375
View File
@@ -0,0 +1,375 @@
// MESSAGE DIGICAM_CONTROL PACKING
#define MAVLINK_MSG_ID_DIGICAM_CONTROL 155
typedef struct __mavlink_digicam_control_t
{
float extra_value; ///< Correspondent value to given extra_param
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)
} mavlink_digicam_control_t;
#define MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN 13
#define MAVLINK_MSG_ID_155_LEN 13
#define MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC 22
#define MAVLINK_MSG_ID_155_CRC 22
#define MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL { \
"DIGICAM_CONTROL", \
10, \
{ { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_digicam_control_t, extra_value) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_digicam_control_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_control_t, target_component) }, \
{ "session", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_control_t, session) }, \
{ "zoom_pos", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_control_t, zoom_pos) }, \
{ "zoom_step", NULL, MAVLINK_TYPE_INT8_T, 0, 8, offsetof(mavlink_digicam_control_t, zoom_step) }, \
{ "focus_lock", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_control_t, focus_lock) }, \
{ "shot", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_control_t, shot) }, \
{ "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_digicam_control_t, command_id) }, \
{ "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_digicam_control_t, extra_param) }, \
} \
}
/**
* @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[MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN];
_mav_put_float(buf, 0, extra_value);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint8_t(buf, 6, session);
_mav_put_uint8_t(buf, 7, zoom_pos);
_mav_put_int8_t(buf, 8, zoom_step);
_mav_put_uint8_t(buf, 9, focus_lock);
_mav_put_uint8_t(buf, 10, shot);
_mav_put_uint8_t(buf, 11, command_id);
_mav_put_uint8_t(buf, 12, extra_param);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#else
mavlink_digicam_control_t packet;
packet.extra_value = extra_value;
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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN];
_mav_put_float(buf, 0, extra_value);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint8_t(buf, 6, session);
_mav_put_uint8_t(buf, 7, zoom_pos);
_mav_put_int8_t(buf, 8, zoom_step);
_mav_put_uint8_t(buf, 9, focus_lock);
_mav_put_uint8_t(buf, 10, shot);
_mav_put_uint8_t(buf, 11, command_id);
_mav_put_uint8_t(buf, 12, extra_param);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#else
mavlink_digicam_control_t packet;
packet.extra_value = extra_value;
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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
}
/**
* @brief Encode a digicam_control 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 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 Encode a digicam_control 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 digicam_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_digicam_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
{
return mavlink_msg_digicam_control_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN];
_mav_put_float(buf, 0, extra_value);
_mav_put_uint8_t(buf, 4, target_system);
_mav_put_uint8_t(buf, 5, target_component);
_mav_put_uint8_t(buf, 6, session);
_mav_put_uint8_t(buf, 7, zoom_pos);
_mav_put_int8_t(buf, 8, zoom_step);
_mav_put_uint8_t(buf, 9, focus_lock);
_mav_put_uint8_t(buf, 10, shot);
_mav_put_uint8_t(buf, 11, command_id);
_mav_put_uint8_t(buf, 12, extra_param);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
#else
mavlink_digicam_control_t packet;
packet.extra_value = extra_value;
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;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
#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, 4);
}
/**
* @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, 5);
}
/**
* @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, 6);
}
/**
* @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, 7);
}
/**
* @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, 8);
}
/**
* @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, 9);
}
/**
* @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, 10);
}
/**
* @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, 11);
}
/**
* @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, 12);
}
/**
* @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, 0);
}
/**
* @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->extra_value = mavlink_msg_digicam_control_get_extra_value(msg);
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);
#else
memcpy(digicam_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
+221
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@@ -0,0 +1,221 @@
// 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_MSG_ID_FENCE_FETCH_POINT_CRC 68
#define MAVLINK_MSG_ID_161_CRC 68
#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[MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#else
mavlink_fence_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#else
mavlink_fence_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
}
/**
* @brief Encode a fence_fetch_point 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 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 Encode a fence_fetch_point 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 fence_fetch_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fence_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
{
return mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN];
_mav_put_uint8_t(buf, 0, target_system);
_mav_put_uint8_t(buf, 1, target_component);
_mav_put_uint8_t(buf, 2, idx);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
#else
mavlink_fence_fetch_point_t packet;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
#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), MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_fence_point.h
+287
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@@ -0,0 +1,287 @@
// MESSAGE FENCE_POINT PACKING
#define MAVLINK_MSG_ID_FENCE_POINT 160
typedef struct __mavlink_fence_point_t
{
float lat; ///< Latitude of point
float lng; ///< Longitude of point
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)
} mavlink_fence_point_t;
#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12
#define MAVLINK_MSG_ID_160_LEN 12
#define MAVLINK_MSG_ID_FENCE_POINT_CRC 78
#define MAVLINK_MSG_ID_160_CRC 78
#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \
"FENCE_POINT", \
6, \
{ { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_fence_point_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lng) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_fence_point_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_fence_point_t, target_component) }, \
{ "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_fence_point_t, idx) }, \
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_fence_point_t, count) }, \
} \
}
/**
* @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[MAVLINK_MSG_ID_FENCE_POINT_LEN];
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, target_system);
_mav_put_uint8_t(buf, 9, target_component);
_mav_put_uint8_t(buf, 10, idx);
_mav_put_uint8_t(buf, 11, count);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#else
mavlink_fence_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_FENCE_POINT_LEN];
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, target_system);
_mav_put_uint8_t(buf, 9, target_component);
_mav_put_uint8_t(buf, 10, idx);
_mav_put_uint8_t(buf, 11, count);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#else
mavlink_fence_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
}
/**
* @brief Encode a fence_point 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 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 Encode a fence_point 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 fence_point C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fence_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
{
return mavlink_msg_fence_point_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_FENCE_POINT_LEN];
_mav_put_float(buf, 0, lat);
_mav_put_float(buf, 4, lng);
_mav_put_uint8_t(buf, 8, target_system);
_mav_put_uint8_t(buf, 9, target_component);
_mav_put_uint8_t(buf, 10, idx);
_mav_put_uint8_t(buf, 11, count);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
#else
mavlink_fence_point_t packet;
packet.lat = lat;
packet.lng = lng;
packet.target_system = target_system;
packet.target_component = target_component;
packet.idx = idx;
packet.count = count;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
#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, 8);
}
/**
* @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, 9);
}
/**
* @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, 10);
}
/**
* @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, 11);
}
/**
* @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, 0);
}
/**
* @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, 4);
}
/**
* @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->lat = mavlink_msg_fence_point_get_lat(msg);
fence_point->lng = mavlink_msg_fence_point_get_lng(msg);
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);
#else
memcpy(fence_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FENCE_POINT_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_fence_status.h
+243
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@@ -0,0 +1,243 @@
// MESSAGE FENCE_STATUS PACKING
#define MAVLINK_MSG_ID_FENCE_STATUS 162
typedef struct __mavlink_fence_status_t
{
uint32_t breach_time; ///< time of last breach in milliseconds since boot
uint16_t breach_count; ///< number of fence breaches
uint8_t breach_status; ///< 0 if currently inside fence, 1 if outside
uint8_t breach_type; ///< last breach type (see FENCE_BREACH_* enum)
} mavlink_fence_status_t;
#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8
#define MAVLINK_MSG_ID_162_LEN 8
#define MAVLINK_MSG_ID_FENCE_STATUS_CRC 189
#define MAVLINK_MSG_ID_162_CRC 189
#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
"FENCE_STATUS", \
4, \
{ { "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fence_status_t, breach_time) }, \
{ "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_fence_status_t, breach_count) }, \
{ "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_fence_status_t, breach_status) }, \
{ "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_fence_status_t, breach_type) }, \
} \
}
/**
* @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[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
_mav_put_uint32_t(buf, 0, breach_time);
_mav_put_uint16_t(buf, 4, breach_count);
_mav_put_uint8_t(buf, 6, breach_status);
_mav_put_uint8_t(buf, 7, breach_type);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#else
mavlink_fence_status_t packet;
packet.breach_time = breach_time;
packet.breach_count = breach_count;
packet.breach_status = breach_status;
packet.breach_type = breach_type;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
_mav_put_uint32_t(buf, 0, breach_time);
_mav_put_uint16_t(buf, 4, breach_count);
_mav_put_uint8_t(buf, 6, breach_status);
_mav_put_uint8_t(buf, 7, breach_type);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#else
mavlink_fence_status_t packet;
packet.breach_time = breach_time;
packet.breach_count = breach_count;
packet.breach_status = breach_status;
packet.breach_type = breach_type;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
}
/**
* @brief Encode a fence_status 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 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 Encode a fence_status 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 fence_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_fence_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
{
return mavlink_msg_fence_status_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
_mav_put_uint32_t(buf, 0, breach_time);
_mav_put_uint16_t(buf, 4, breach_count);
_mav_put_uint8_t(buf, 6, breach_status);
_mav_put_uint8_t(buf, 7, breach_type);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
#else
mavlink_fence_status_t packet;
packet.breach_time = breach_time;
packet.breach_count = breach_count;
packet.breach_status = breach_status;
packet.breach_type = breach_type;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
#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, 6);
}
/**
* @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, 4);
}
/**
* @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, 7);
}
/**
* @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, 0);
}
/**
* @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_time = mavlink_msg_fence_status_get_breach_time(msg);
fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg);
fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg);
fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg);
#else
memcpy(fence_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FENCE_STATUS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_hwstatus.h
+199
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@@ -0,0 +1,199 @@
// 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
}
#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
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_limits_status.h
+353
View File
@@ -0,0 +1,353 @@
// MESSAGE LIMITS_STATUS PACKING
#define MAVLINK_MSG_ID_LIMITS_STATUS 167
typedef struct __mavlink_limits_status_t
{
uint32_t last_trigger; ///< time of last breach in milliseconds since boot
uint32_t last_action; ///< time of last recovery action in milliseconds since boot
uint32_t last_recovery; ///< time of last successful recovery in milliseconds since boot
uint32_t last_clear; ///< time of last all-clear in milliseconds since boot
uint16_t breach_count; ///< number of fence breaches
uint8_t limits_state; ///< state of AP_Limits, (see enum LimitState, LIMITS_STATE)
uint8_t mods_enabled; ///< AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
uint8_t mods_required; ///< AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
uint8_t mods_triggered; ///< AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
} mavlink_limits_status_t;
#define MAVLINK_MSG_ID_LIMITS_STATUS_LEN 22
#define MAVLINK_MSG_ID_167_LEN 22
#define MAVLINK_MSG_ID_LIMITS_STATUS_CRC 144
#define MAVLINK_MSG_ID_167_CRC 144
#define MAVLINK_MESSAGE_INFO_LIMITS_STATUS { \
"LIMITS_STATUS", \
9, \
{ { "last_trigger", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_limits_status_t, last_trigger) }, \
{ "last_action", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_limits_status_t, last_action) }, \
{ "last_recovery", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_limits_status_t, last_recovery) }, \
{ "last_clear", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_limits_status_t, last_clear) }, \
{ "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_limits_status_t, breach_count) }, \
{ "limits_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_limits_status_t, limits_state) }, \
{ "mods_enabled", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_limits_status_t, mods_enabled) }, \
{ "mods_required", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_limits_status_t, mods_required) }, \
{ "mods_triggered", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_limits_status_t, mods_triggered) }, \
} \
}
/**
* @brief Pack a limits_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 limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
* @param last_trigger time of last breach in milliseconds since boot
* @param last_action time of last recovery action in milliseconds since boot
* @param last_recovery time of last successful recovery in milliseconds since boot
* @param last_clear time of last all-clear in milliseconds since boot
* @param breach_count number of fence breaches
* @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
* @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
* @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_limits_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN];
_mav_put_uint32_t(buf, 0, last_trigger);
_mav_put_uint32_t(buf, 4, last_action);
_mav_put_uint32_t(buf, 8, last_recovery);
_mav_put_uint32_t(buf, 12, last_clear);
_mav_put_uint16_t(buf, 16, breach_count);
_mav_put_uint8_t(buf, 18, limits_state);
_mav_put_uint8_t(buf, 19, mods_enabled);
_mav_put_uint8_t(buf, 20, mods_required);
_mav_put_uint8_t(buf, 21, mods_triggered);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#else
mavlink_limits_status_t packet;
packet.last_trigger = last_trigger;
packet.last_action = last_action;
packet.last_recovery = last_recovery;
packet.last_clear = last_clear;
packet.breach_count = breach_count;
packet.limits_state = limits_state;
packet.mods_enabled = mods_enabled;
packet.mods_required = mods_required;
packet.mods_triggered = mods_triggered;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
}
/**
* @brief Pack a limits_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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
* @param last_trigger time of last breach in milliseconds since boot
* @param last_action time of last recovery action in milliseconds since boot
* @param last_recovery time of last successful recovery in milliseconds since boot
* @param last_clear time of last all-clear in milliseconds since boot
* @param breach_count number of fence breaches
* @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
* @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
* @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_limits_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t limits_state,uint32_t last_trigger,uint32_t last_action,uint32_t last_recovery,uint32_t last_clear,uint16_t breach_count,uint8_t mods_enabled,uint8_t mods_required,uint8_t mods_triggered)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN];
_mav_put_uint32_t(buf, 0, last_trigger);
_mav_put_uint32_t(buf, 4, last_action);
_mav_put_uint32_t(buf, 8, last_recovery);
_mav_put_uint32_t(buf, 12, last_clear);
_mav_put_uint16_t(buf, 16, breach_count);
_mav_put_uint8_t(buf, 18, limits_state);
_mav_put_uint8_t(buf, 19, mods_enabled);
_mav_put_uint8_t(buf, 20, mods_required);
_mav_put_uint8_t(buf, 21, mods_triggered);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#else
mavlink_limits_status_t packet;
packet.last_trigger = last_trigger;
packet.last_action = last_action;
packet.last_recovery = last_recovery;
packet.last_clear = last_clear;
packet.breach_count = breach_count;
packet.limits_state = limits_state;
packet.mods_enabled = mods_enabled;
packet.mods_required = mods_required;
packet.mods_triggered = mods_triggered;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
}
/**
* @brief Encode a limits_status 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 limits_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_limits_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status)
{
return mavlink_msg_limits_status_pack(system_id, component_id, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
}
/**
* @brief Encode a limits_status 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 limits_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_limits_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status)
{
return mavlink_msg_limits_status_pack_chan(system_id, component_id, chan, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
}
/**
* @brief Send a limits_status message
* @param chan MAVLink channel to send the message
*
* @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
* @param last_trigger time of last breach in milliseconds since boot
* @param last_action time of last recovery action in milliseconds since boot
* @param last_recovery time of last successful recovery in milliseconds since boot
* @param last_clear time of last all-clear in milliseconds since boot
* @param breach_count number of fence breaches
* @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
* @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
* @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_limits_status_send(mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN];
_mav_put_uint32_t(buf, 0, last_trigger);
_mav_put_uint32_t(buf, 4, last_action);
_mav_put_uint32_t(buf, 8, last_recovery);
_mav_put_uint32_t(buf, 12, last_clear);
_mav_put_uint16_t(buf, 16, breach_count);
_mav_put_uint8_t(buf, 18, limits_state);
_mav_put_uint8_t(buf, 19, mods_enabled);
_mav_put_uint8_t(buf, 20, mods_required);
_mav_put_uint8_t(buf, 21, mods_triggered);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
#else
mavlink_limits_status_t packet;
packet.last_trigger = last_trigger;
packet.last_action = last_action;
packet.last_recovery = last_recovery;
packet.last_clear = last_clear;
packet.breach_count = breach_count;
packet.limits_state = limits_state;
packet.mods_enabled = mods_enabled;
packet.mods_required = mods_required;
packet.mods_triggered = mods_triggered;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
#endif
}
#endif
// MESSAGE LIMITS_STATUS UNPACKING
/**
* @brief Get field limits_state from limits_status message
*
* @return state of AP_Limits, (see enum LimitState, LIMITS_STATE)
*/
static inline uint8_t mavlink_msg_limits_status_get_limits_state(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 18);
}
/**
* @brief Get field last_trigger from limits_status message
*
* @return time of last breach in milliseconds since boot
*/
static inline uint32_t mavlink_msg_limits_status_get_last_trigger(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field last_action from limits_status message
*
* @return time of last recovery action in milliseconds since boot
*/
static inline uint32_t mavlink_msg_limits_status_get_last_action(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 4);
}
/**
* @brief Get field last_recovery from limits_status message
*
* @return time of last successful recovery in milliseconds since boot
*/
static inline uint32_t mavlink_msg_limits_status_get_last_recovery(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 8);
}
/**
* @brief Get field last_clear from limits_status message
*
* @return time of last all-clear in milliseconds since boot
*/
static inline uint32_t mavlink_msg_limits_status_get_last_clear(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 12);
}
/**
* @brief Get field breach_count from limits_status message
*
* @return number of fence breaches
*/
static inline uint16_t mavlink_msg_limits_status_get_breach_count(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 16);
}
/**
* @brief Get field mods_enabled from limits_status message
*
* @return AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
*/
static inline uint8_t mavlink_msg_limits_status_get_mods_enabled(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 19);
}
/**
* @brief Get field mods_required from limits_status message
*
* @return AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
*/
static inline uint8_t mavlink_msg_limits_status_get_mods_required(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 20);
}
/**
* @brief Get field mods_triggered from limits_status message
*
* @return AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
*/
static inline uint8_t mavlink_msg_limits_status_get_mods_triggered(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 21);
}
/**
* @brief Decode a limits_status message into a struct
*
* @param msg The message to decode
* @param limits_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_limits_status_decode(const mavlink_message_t* msg, mavlink_limits_status_t* limits_status)
{
#if MAVLINK_NEED_BYTE_SWAP
limits_status->last_trigger = mavlink_msg_limits_status_get_last_trigger(msg);
limits_status->last_action = mavlink_msg_limits_status_get_last_action(msg);
limits_status->last_recovery = mavlink_msg_limits_status_get_last_recovery(msg);
limits_status->last_clear = mavlink_msg_limits_status_get_last_clear(msg);
limits_status->breach_count = mavlink_msg_limits_status_get_breach_count(msg);
limits_status->limits_state = mavlink_msg_limits_status_get_limits_state(msg);
limits_status->mods_enabled = mavlink_msg_limits_status_get_mods_enabled(msg);
limits_status->mods_required = mavlink_msg_limits_status_get_mods_required(msg);
limits_status->mods_triggered = mavlink_msg_limits_status_get_mods_triggered(msg);
#else
memcpy(limits_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_meminfo.h
+199
View File
@@ -0,0 +1,199 @@
// 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_MSG_ID_MEMINFO_CRC 208
#define MAVLINK_MSG_ID_152_CRC 208
#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[MAVLINK_MSG_ID_MEMINFO_LEN];
_mav_put_uint16_t(buf, 0, brkval);
_mav_put_uint16_t(buf, 2, freemem);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMINFO_LEN);
#else
mavlink_meminfo_t packet;
packet.brkval = brkval;
packet.freemem = freemem;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MEMINFO;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_MEMINFO_LEN];
_mav_put_uint16_t(buf, 0, brkval);
_mav_put_uint16_t(buf, 2, freemem);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMINFO_LEN);
#else
mavlink_meminfo_t packet;
packet.brkval = brkval;
packet.freemem = freemem;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MEMINFO;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
}
/**
* @brief Encode a meminfo 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 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 Encode a meminfo 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 meminfo C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_meminfo_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
{
return mavlink_msg_meminfo_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_MEMINFO_LEN];
_mav_put_uint16_t(buf, 0, brkval);
_mav_put_uint16_t(buf, 2, freemem);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
#else
mavlink_meminfo_t packet;
packet.brkval = brkval;
packet.freemem = freemem;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
#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), MAVLINK_MSG_ID_MEMINFO_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_configure.h
+287
View File
@@ -0,0 +1,287 @@
// 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_MSG_ID_MOUNT_CONFIGURE_CRC 19
#define MAVLINK_MSG_ID_156_CRC 19
#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[MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
}
/**
* @brief Encode a mount_configure 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 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 Encode a mount_configure 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 mount_configure C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_mount_configure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
{
return mavlink_msg_mount_configure_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN];
_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);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
#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;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
#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), MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_control.h
+287
View File
@@ -0,0 +1,287 @@
// MESSAGE MOUNT_CONTROL PACKING
#define MAVLINK_MSG_ID_MOUNT_CONTROL 157
typedef struct __mavlink_mount_control_t
{
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 target_system; ///< System ID
uint8_t target_component; ///< Component ID
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_MSG_ID_MOUNT_CONTROL_CRC 21
#define MAVLINK_MSG_ID_157_CRC 21
#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
"MOUNT_CONTROL", \
6, \
{ { "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_control_t, input_a) }, \
{ "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_control_t, input_b) }, \
{ "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_control_t, input_c) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_control_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_control_t, target_component) }, \
{ "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[MAVLINK_MSG_ID_MOUNT_CONTROL_LEN];
_mav_put_int32_t(buf, 0, input_a);
_mav_put_int32_t(buf, 4, input_b);
_mav_put_int32_t(buf, 8, input_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_put_uint8_t(buf, 14, save_position);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#else
mavlink_mount_control_t packet;
packet.input_a = input_a;
packet.input_b = input_b;
packet.input_c = input_c;
packet.target_system = target_system;
packet.target_component = target_component;
packet.save_position = save_position;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_MOUNT_CONTROL_LEN];
_mav_put_int32_t(buf, 0, input_a);
_mav_put_int32_t(buf, 4, input_b);
_mav_put_int32_t(buf, 8, input_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_put_uint8_t(buf, 14, save_position);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#else
mavlink_mount_control_t packet;
packet.input_a = input_a;
packet.input_b = input_b;
packet.input_c = input_c;
packet.target_system = target_system;
packet.target_component = target_component;
packet.save_position = save_position;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
}
/**
* @brief Encode a mount_control 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 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 Encode a mount_control 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 mount_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_mount_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
{
return mavlink_msg_mount_control_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_MOUNT_CONTROL_LEN];
_mav_put_int32_t(buf, 0, input_a);
_mav_put_int32_t(buf, 4, input_b);
_mav_put_int32_t(buf, 8, input_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_put_uint8_t(buf, 14, save_position);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
#else
mavlink_mount_control_t packet;
packet.input_a = input_a;
packet.input_b = input_b;
packet.input_c = input_c;
packet.target_system = target_system;
packet.target_component = target_component;
packet.save_position = save_position;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
#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, 12);
}
/**
* @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, 13);
}
/**
* @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, 0);
}
/**
* @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, 4);
}
/**
* @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, 8);
}
/**
* @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->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->target_system = mavlink_msg_mount_control_get_target_system(msg);
mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg);
mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg);
#else
memcpy(mount_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_mount_status.h
+265
View File
@@ -0,0 +1,265 @@
// MESSAGE MOUNT_STATUS PACKING
#define MAVLINK_MSG_ID_MOUNT_STATUS 158
typedef struct __mavlink_mount_status_t
{
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
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_mount_status_t;
#define MAVLINK_MSG_ID_MOUNT_STATUS_LEN 14
#define MAVLINK_MSG_ID_158_LEN 14
#define MAVLINK_MSG_ID_MOUNT_STATUS_CRC 134
#define MAVLINK_MSG_ID_158_CRC 134
#define MAVLINK_MESSAGE_INFO_MOUNT_STATUS { \
"MOUNT_STATUS", \
5, \
{ { "pointing_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_status_t, pointing_a) }, \
{ "pointing_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_status_t, pointing_b) }, \
{ "pointing_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_status_t, pointing_c) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_status_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_status_t, target_component) }, \
} \
}
/**
* @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[MAVLINK_MSG_ID_MOUNT_STATUS_LEN];
_mav_put_int32_t(buf, 0, pointing_a);
_mav_put_int32_t(buf, 4, pointing_b);
_mav_put_int32_t(buf, 8, pointing_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#else
mavlink_mount_status_t packet;
packet.pointing_a = pointing_a;
packet.pointing_b = pointing_b;
packet.pointing_c = pointing_c;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_MOUNT_STATUS_LEN];
_mav_put_int32_t(buf, 0, pointing_a);
_mav_put_int32_t(buf, 4, pointing_b);
_mav_put_int32_t(buf, 8, pointing_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#else
mavlink_mount_status_t packet;
packet.pointing_a = pointing_a;
packet.pointing_b = pointing_b;
packet.pointing_c = pointing_c;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
}
/**
* @brief Encode a mount_status 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 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 Encode a mount_status 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 mount_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_mount_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
{
return mavlink_msg_mount_status_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_MOUNT_STATUS_LEN];
_mav_put_int32_t(buf, 0, pointing_a);
_mav_put_int32_t(buf, 4, pointing_b);
_mav_put_int32_t(buf, 8, pointing_c);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
#else
mavlink_mount_status_t packet;
packet.pointing_a = pointing_a;
packet.pointing_b = pointing_b;
packet.pointing_c = pointing_c;
packet.target_system = target_system;
packet.target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
#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, 12);
}
/**
* @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, 13);
}
/**
* @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, 0);
}
/**
* @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, 4);
}
/**
* @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, 8);
}
/**
* @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->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);
mount_status->target_system = mavlink_msg_mount_status_get_target_system(msg);
mount_status->target_component = mavlink_msg_mount_status_get_target_component(msg);
#else
memcpy(mount_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_radio.h
+309
View File
@@ -0,0 +1,309 @@
// MESSAGE RADIO PACKING
#define MAVLINK_MSG_ID_RADIO 166
typedef struct __mavlink_radio_t
{
uint16_t rxerrors; ///< receive errors
uint16_t fixed; ///< count of error corrected packets
uint8_t rssi; ///< local signal strength
uint8_t remrssi; ///< remote signal strength
uint8_t txbuf; ///< how full the tx buffer is as a percentage
uint8_t noise; ///< background noise level
uint8_t remnoise; ///< remote background noise level
} mavlink_radio_t;
#define MAVLINK_MSG_ID_RADIO_LEN 9
#define MAVLINK_MSG_ID_166_LEN 9
#define MAVLINK_MSG_ID_RADIO_CRC 21
#define MAVLINK_MSG_ID_166_CRC 21
#define MAVLINK_MESSAGE_INFO_RADIO { \
"RADIO", \
7, \
{ { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \
{ "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \
{ "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \
{ "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \
{ "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \
{ "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \
{ "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \
} \
}
/**
* @brief Pack a radio 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 rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RADIO_LEN];
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
#else
mavlink_radio_t packet;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RADIO;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_LEN);
#endif
}
/**
* @brief Pack a radio 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 rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RADIO_LEN];
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
#else
mavlink_radio_t packet;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RADIO;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_LEN);
#endif
}
/**
* @brief Encode a radio 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 radio C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio)
{
return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
}
/**
* @brief Encode a radio 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 radio C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_radio_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_t* radio)
{
return mavlink_msg_radio_pack_chan(system_id, component_id, chan, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
}
/**
* @brief Send a radio message
* @param chan MAVLink channel to send the message
*
* @param rssi local signal strength
* @param remrssi remote signal strength
* @param txbuf how full the tx buffer is as a percentage
* @param noise background noise level
* @param remnoise remote background noise level
* @param rxerrors receive errors
* @param fixed count of error corrected packets
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RADIO_LEN];
_mav_put_uint16_t(buf, 0, rxerrors);
_mav_put_uint16_t(buf, 2, fixed);
_mav_put_uint8_t(buf, 4, rssi);
_mav_put_uint8_t(buf, 5, remrssi);
_mav_put_uint8_t(buf, 6, txbuf);
_mav_put_uint8_t(buf, 7, noise);
_mav_put_uint8_t(buf, 8, remnoise);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN);
#endif
#else
mavlink_radio_t packet;
packet.rxerrors = rxerrors;
packet.fixed = fixed;
packet.rssi = rssi;
packet.remrssi = remrssi;
packet.txbuf = txbuf;
packet.noise = noise;
packet.remnoise = remnoise;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_LEN);
#endif
#endif
}
#endif
// MESSAGE RADIO UNPACKING
/**
* @brief Get field rssi from radio message
*
* @return local signal strength
*/
static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 4);
}
/**
* @brief Get field remrssi from radio message
*
* @return remote signal strength
*/
static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 5);
}
/**
* @brief Get field txbuf from radio message
*
* @return how full the tx buffer is as a percentage
*/
static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 6);
}
/**
* @brief Get field noise from radio message
*
* @return background noise level
*/
static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 7);
}
/**
* @brief Get field remnoise from radio message
*
* @return remote background noise level
*/
static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Get field rxerrors from radio message
*
* @return receive errors
*/
static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field fixed from radio message
*
* @return count of error corrected packets
*/
static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Decode a radio message into a struct
*
* @param msg The message to decode
* @param radio C-struct to decode the message contents into
*/
static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio)
{
#if MAVLINK_NEED_BYTE_SWAP
radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg);
radio->fixed = mavlink_msg_radio_get_fixed(msg);
radio->rssi = mavlink_msg_radio_get_rssi(msg);
radio->remrssi = mavlink_msg_radio_get_remrssi(msg);
radio->txbuf = mavlink_msg_radio_get_txbuf(msg);
radio->noise = mavlink_msg_radio_get_noise(msg);
radio->remnoise = mavlink_msg_radio_get_remnoise(msg);
#else
memcpy(radio, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RADIO_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_rangefinder.h
+199
View File
@@ -0,0 +1,199 @@
// MESSAGE RANGEFINDER PACKING
#define MAVLINK_MSG_ID_RANGEFINDER 173
typedef struct __mavlink_rangefinder_t
{
float distance; ///< distance in meters
float voltage; ///< raw voltage if available, zero otherwise
} mavlink_rangefinder_t;
#define MAVLINK_MSG_ID_RANGEFINDER_LEN 8
#define MAVLINK_MSG_ID_173_LEN 8
#define MAVLINK_MSG_ID_RANGEFINDER_CRC 83
#define MAVLINK_MSG_ID_173_CRC 83
#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
"RANGEFINDER", \
2, \
{ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
} \
}
/**
* @brief Pack a rangefinder 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 distance distance in meters
* @param voltage raw voltage if available, zero otherwise
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
}
/**
* @brief Pack a rangefinder 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 distance distance in meters
* @param voltage raw voltage if available, zero otherwise
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float distance,float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
}
/**
* @brief Encode a rangefinder 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 rangefinder C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
{
return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
}
/**
* @brief Encode a rangefinder 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 rangefinder C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_rangefinder_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
{
return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage);
}
/**
* @brief Send a rangefinder message
* @param chan MAVLink channel to send the message
*
* @param distance distance in meters
* @param voltage raw voltage if available, zero otherwise
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
_mav_put_float(buf, 0, distance);
_mav_put_float(buf, 4, voltage);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#else
mavlink_rangefinder_t packet;
packet.distance = distance;
packet.voltage = voltage;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
#endif
}
#endif
// MESSAGE RANGEFINDER UNPACKING
/**
* @brief Get field distance from rangefinder message
*
* @return distance in meters
*/
static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field voltage from rangefinder message
*
* @return raw voltage if available, zero otherwise
*/
static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Decode a rangefinder message into a struct
*
* @param msg The message to decode
* @param rangefinder C-struct to decode the message contents into
*/
static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder)
{
#if MAVLINK_NEED_BYTE_SWAP
rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg);
rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg);
#else
memcpy(rangefinder, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RANGEFINDER_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
+419
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@@ -0,0 +1,419 @@
// MESSAGE SENSOR_OFFSETS PACKING
#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
typedef struct __mavlink_sensor_offsets_t
{
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
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_sensor_offsets_t;
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
#define MAVLINK_MSG_ID_150_LEN 42
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC 134
#define MAVLINK_MSG_ID_150_CRC 134
#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
"SENSOR_OFFSETS", \
12, \
{ { "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
{ "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
{ "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
{ "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
{ "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
{ "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
{ "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
{ "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
{ "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
{ "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
{ "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
{ "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_sensor_offsets_t, mag_ofs_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[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
_mav_put_float(buf, 0, mag_declination);
_mav_put_int32_t(buf, 4, raw_press);
_mav_put_int32_t(buf, 8, raw_temp);
_mav_put_float(buf, 12, gyro_cal_x);
_mav_put_float(buf, 16, gyro_cal_y);
_mav_put_float(buf, 20, gyro_cal_z);
_mav_put_float(buf, 24, accel_cal_x);
_mav_put_float(buf, 28, accel_cal_y);
_mav_put_float(buf, 32, accel_cal_z);
_mav_put_int16_t(buf, 36, mag_ofs_x);
_mav_put_int16_t(buf, 38, mag_ofs_y);
_mav_put_int16_t(buf, 40, mag_ofs_z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#else
mavlink_sensor_offsets_t packet;
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;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
_mav_put_float(buf, 0, mag_declination);
_mav_put_int32_t(buf, 4, raw_press);
_mav_put_int32_t(buf, 8, raw_temp);
_mav_put_float(buf, 12, gyro_cal_x);
_mav_put_float(buf, 16, gyro_cal_y);
_mav_put_float(buf, 20, gyro_cal_z);
_mav_put_float(buf, 24, accel_cal_x);
_mav_put_float(buf, 28, accel_cal_y);
_mav_put_float(buf, 32, accel_cal_z);
_mav_put_int16_t(buf, 36, mag_ofs_x);
_mav_put_int16_t(buf, 38, mag_ofs_y);
_mav_put_int16_t(buf, 40, mag_ofs_z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#else
mavlink_sensor_offsets_t packet;
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;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
}
/**
* @brief Encode a sensor_offsets 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 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 Encode a sensor_offsets 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 sensor_offsets C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_sensor_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
{
return mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
_mav_put_float(buf, 0, mag_declination);
_mav_put_int32_t(buf, 4, raw_press);
_mav_put_int32_t(buf, 8, raw_temp);
_mav_put_float(buf, 12, gyro_cal_x);
_mav_put_float(buf, 16, gyro_cal_y);
_mav_put_float(buf, 20, gyro_cal_z);
_mav_put_float(buf, 24, accel_cal_x);
_mav_put_float(buf, 28, accel_cal_y);
_mav_put_float(buf, 32, accel_cal_z);
_mav_put_int16_t(buf, 36, mag_ofs_x);
_mav_put_int16_t(buf, 38, mag_ofs_y);
_mav_put_int16_t(buf, 40, mag_ofs_z);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
#else
mavlink_sensor_offsets_t packet;
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;
packet.mag_ofs_x = mag_ofs_x;
packet.mag_ofs_y = mag_ofs_y;
packet.mag_ofs_z = mag_ofs_z;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
#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, 36);
}
/**
* @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, 38);
}
/**
* @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, 40);
}
/**
* @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, 0);
}
/**
* @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, 4);
}
/**
* @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, 8);
}
/**
* @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, 12);
}
/**
* @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, 16);
}
/**
* @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, 20);
}
/**
* @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, 24);
}
/**
* @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, 28);
}
/**
* @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, 32);
}
/**
* @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_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);
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);
#else
memcpy(sensor_offsets, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
+265
View File
@@ -0,0 +1,265 @@
// MESSAGE SET_MAG_OFFSETS PACKING
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
typedef struct __mavlink_set_mag_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
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
} mavlink_set_mag_offsets_t;
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8
#define MAVLINK_MSG_ID_151_LEN 8
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC 219
#define MAVLINK_MSG_ID_151_CRC 219
#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \
"SET_MAG_OFFSETS", \
5, \
{ { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \
{ "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \
{ "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_set_mag_offsets_t, target_component) }, \
} \
}
/**
* @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[MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN];
_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_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#else
mavlink_set_mag_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.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN];
_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_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#else
mavlink_set_mag_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.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
}
/**
* @brief Encode a set_mag_offsets 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 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 Encode a set_mag_offsets 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 set_mag_offsets C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_mag_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
{
return mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN];
_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_uint8_t(buf, 6, target_system);
_mav_put_uint8_t(buf, 7, target_component);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
#else
mavlink_set_mag_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.target_system = target_system;
packet.target_component = target_component;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
#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, 6);
}
/**
* @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, 7);
}
/**
* @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, 0);
}
/**
* @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, 2);
}
/**
* @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, 4);
}
/**
* @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->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);
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);
#else
memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_simstate.h
+397
View File
@@ -0,0 +1,397 @@
// MESSAGE SIMSTATE PACKING
#define MAVLINK_MSG_ID_SIMSTATE 164
typedef struct __mavlink_simstate_t
{
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float xacc; ///< X acceleration m/s/s
float yacc; ///< Y acceleration m/s/s
float zacc; ///< Z acceleration m/s/s
float xgyro; ///< Angular speed around X axis rad/s
float ygyro; ///< Angular speed around Y axis rad/s
float zgyro; ///< Angular speed around Z axis rad/s
int32_t lat; ///< Latitude in degrees * 1E7
int32_t lng; ///< Longitude in degrees * 1E7
} mavlink_simstate_t;
#define MAVLINK_MSG_ID_SIMSTATE_LEN 44
#define MAVLINK_MSG_ID_164_LEN 44
#define MAVLINK_MSG_ID_SIMSTATE_CRC 154
#define MAVLINK_MSG_ID_164_CRC 154
#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
"SIMSTATE", \
11, \
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
} \
}
/**
* @brief Pack a simstate 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 Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param xacc X acceleration m/s/s
* @param yacc Y acceleration m/s/s
* @param zacc Z acceleration m/s/s
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#else
mavlink_simstate_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
}
/**
* @brief Pack a simstate 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 roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param xacc X acceleration m/s/s
* @param yacc Y acceleration m/s/s
* @param zacc Z acceleration m/s/s
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,int32_t lat,int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#else
mavlink_simstate_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
}
/**
* @brief Encode a simstate 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 simstate C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
{
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
}
/**
* @brief Encode a simstate 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 simstate C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_simstate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
{
return mavlink_msg_simstate_pack_chan(system_id, component_id, chan, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
}
/**
* @brief Send a simstate message
* @param chan MAVLink channel to send the message
*
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param xacc X acceleration m/s/s
* @param yacc Y acceleration m/s/s
* @param zacc Z acceleration m/s/s
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
#else
mavlink_simstate_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
#endif
}
#endif
// MESSAGE SIMSTATE UNPACKING
/**
* @brief Get field roll from simstate message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field pitch from simstate message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field yaw from simstate message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field xacc from simstate message
*
* @return X acceleration m/s/s
*/
static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field yacc from simstate message
*
* @return Y acceleration m/s/s
*/
static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field zacc from simstate message
*
* @return Z acceleration m/s/s
*/
static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field xgyro from simstate message
*
* @return Angular speed around X axis rad/s
*/
static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field ygyro from simstate message
*
* @return Angular speed around Y axis rad/s
*/
static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field zgyro from simstate message
*
* @return Angular speed around Z axis rad/s
*/
static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field lat from simstate message
*
* @return Latitude in degrees * 1E7
*/
static inline int32_t mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 36);
}
/**
* @brief Get field lng from simstate message
*
* @return Longitude in degrees * 1E7
*/
static inline int32_t mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 40);
}
/**
* @brief Decode a simstate message into a struct
*
* @param msg The message to decode
* @param simstate C-struct to decode the message contents into
*/
static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
{
#if MAVLINK_NEED_BYTE_SWAP
simstate->roll = mavlink_msg_simstate_get_roll(msg);
simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
simstate->lat = mavlink_msg_simstate_get_lat(msg);
simstate->lng = mavlink_msg_simstate_get_lng(msg);
#else
memcpy(simstate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_wind.h
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// MESSAGE WIND PACKING
#define MAVLINK_MSG_ID_WIND 168
typedef struct __mavlink_wind_t
{
float direction; ///< wind direction that wind is coming from (degrees)
float speed; ///< wind speed in ground plane (m/s)
float speed_z; ///< vertical wind speed (m/s)
} mavlink_wind_t;
#define MAVLINK_MSG_ID_WIND_LEN 12
#define MAVLINK_MSG_ID_168_LEN 12
#define MAVLINK_MSG_ID_WIND_CRC 1
#define MAVLINK_MSG_ID_168_CRC 1
#define MAVLINK_MESSAGE_INFO_WIND { \
"WIND", \
3, \
{ { "direction", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_wind_t, direction) }, \
{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_wind_t, speed) }, \
{ "speed_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_wind_t, speed_z) }, \
} \
}
/**
* @brief Pack a wind 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 direction wind direction that wind is coming from (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float direction, float speed, float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_WIND_LEN];
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WIND_LEN);
#else
mavlink_wind_t packet;
packet.direction = direction;
packet.speed = speed;
packet.speed_z = speed_z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WIND_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_WIND;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WIND_LEN);
#endif
}
/**
* @brief Pack a wind 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 direction wind direction that wind is coming from (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float direction,float speed,float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_WIND_LEN];
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WIND_LEN);
#else
mavlink_wind_t packet;
packet.direction = direction;
packet.speed = speed;
packet.speed_z = speed_z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WIND_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_WIND;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WIND_LEN);
#endif
}
/**
* @brief Encode a wind 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 wind C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wind_t* wind)
{
return mavlink_msg_wind_pack(system_id, component_id, msg, wind->direction, wind->speed, wind->speed_z);
}
/**
* @brief Encode a wind 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 wind C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_wind_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_wind_t* wind)
{
return mavlink_msg_wind_pack_chan(system_id, component_id, chan, msg, wind->direction, wind->speed, wind->speed_z);
}
/**
* @brief Send a wind message
* @param chan MAVLink channel to send the message
*
* @param direction wind direction that wind is coming from (degrees)
* @param speed wind speed in ground plane (m/s)
* @param speed_z vertical wind speed (m/s)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction, float speed, float speed_z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_WIND_LEN];
_mav_put_float(buf, 0, direction);
_mav_put_float(buf, 4, speed);
_mav_put_float(buf, 8, speed_z);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN);
#endif
#else
mavlink_wind_t packet;
packet.direction = direction;
packet.speed = speed;
packet.speed_z = speed_z;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)&packet, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)&packet, MAVLINK_MSG_ID_WIND_LEN);
#endif
#endif
}
#endif
// MESSAGE WIND UNPACKING
/**
* @brief Get field direction from wind message
*
* @return wind direction that wind is coming from (degrees)
*/
static inline float mavlink_msg_wind_get_direction(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field speed from wind message
*
* @return wind speed in ground plane (m/s)
*/
static inline float mavlink_msg_wind_get_speed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field speed_z from wind message
*
* @return vertical wind speed (m/s)
*/
static inline float mavlink_msg_wind_get_speed_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Decode a wind message into a struct
*
* @param msg The message to decode
* @param wind C-struct to decode the message contents into
*/
static inline void mavlink_msg_wind_decode(const mavlink_message_t* msg, mavlink_wind_t* wind)
{
#if MAVLINK_NEED_BYTE_SWAP
wind->direction = mavlink_msg_wind_get_direction(msg);
wind->speed = mavlink_msg_wind_get_speed(msg);
wind->speed_z = mavlink_msg_wind_get_speed_z(msg);
#else
memcpy(wind, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_WIND_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/testsuite.h
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radio/src/GCS_MAVLink/include_v1.0/ardupilotmega/version.h
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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 "Tue Aug 20 00:01:00 2013"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
#endif // MAVLINK_VERSION_H
radio/src/GCS_MAVLink/include_v1.0/checksum.h
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#ifdef __cplusplus
extern "C" {
#endif
#ifndef _CHECKSUM_H_
#define _CHECKSUM_H_
/**
*
* CALCULATE THE CHECKSUM
*
*/
#define X25_INIT_CRC 0xffff
#define X25_VALIDATE_CRC 0xf0b8
#ifndef HAVE_CRC_ACCUMULATE
/**
* @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);
}
#endif
/**
* @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(const 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
radio/src/GCS_MAVLink/include_v1.0/common/common.h
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radio/src/GCS_MAVLink/include_v1.0/common/mavlink.h
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/** @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 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 "common.h"
#endif // MAVLINK_H
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_attitude.h
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// MESSAGE ATTITUDE PACKING
#define MAVLINK_MSG_ID_ATTITUDE 30
typedef struct __mavlink_attitude_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
float roll; ///< Roll angle (rad, -pi..+pi)
float pitch; ///< Pitch angle (rad, -pi..+pi)
float yaw; ///< Yaw angle (rad, -pi..+pi)
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 28
#define MAVLINK_MSG_ID_30_LEN 28
#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
#define MAVLINK_MSG_ID_30_CRC 39
#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
"ATTITUDE", \
7, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, 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 time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @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,
uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, rollspeed);
_mav_put_float(buf, 20, pitchspeed);
_mav_put_float(buf, 24, yawspeed);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
#else
mavlink_attitude_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
}
/**
* @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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @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,
uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, rollspeed);
_mav_put_float(buf, 20, pitchspeed);
_mav_put_float(buf, 24, yawspeed);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
#else
mavlink_attitude_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
}
/**
* @brief Encode a attitude 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 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->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
}
/**
* @brief Encode a attitude 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 attitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
{
return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, 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 time_boot_ms Timestamp (milliseconds since system boot)
* @param roll Roll angle (rad, -pi..+pi)
* @param pitch Pitch angle (rad, -pi..+pi)
* @param yaw Yaw angle (rad, -pi..+pi)
* @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, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, roll);
_mav_put_float(buf, 8, pitch);
_mav_put_float(buf, 12, yaw);
_mav_put_float(buf, 16, rollspeed);
_mav_put_float(buf, 20, pitchspeed);
_mav_put_float(buf, 24, yawspeed);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
#else
mavlink_attitude_t packet;
packet.time_boot_ms = time_boot_ms;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
#endif
}
#endif
// MESSAGE ATTITUDE UNPACKING
/**
* @brief Get field time_boot_ms from attitude message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field roll from attitude message
*
* @return Roll angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field pitch from attitude message
*
* @return Pitch angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field yaw from attitude message
*
* @return Yaw angle (rad, -pi..+pi)
*/
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @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, 16);
}
/**
* @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, 20);
}
/**
* @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, 24);
}
/**
* @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->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(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), MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_attitude_quaternion.h
+331
View File
@@ -0,0 +1,331 @@
// MESSAGE ATTITUDE_QUATERNION PACKING
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
typedef struct __mavlink_attitude_quaternion_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
float q1; ///< Quaternion component 1
float q2; ///< Quaternion component 2
float q3; ///< Quaternion component 3
float q4; ///< Quaternion component 4
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
} mavlink_attitude_quaternion_t;
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
#define MAVLINK_MSG_ID_31_LEN 32
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
#define MAVLINK_MSG_ID_31_CRC 246
#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
"ATTITUDE_QUATERNION", \
8, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
{ "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
{ "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
{ "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
{ "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
} \
}
/**
* @brief Pack a attitude_quaternion 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_boot_ms Timestamp (milliseconds since system boot)
* @param q1 Quaternion component 1
* @param q2 Quaternion component 2
* @param q3 Quaternion component 3
* @param q4 Quaternion component 4
* @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_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, q1);
_mav_put_float(buf, 8, q2);
_mav_put_float(buf, 12, q3);
_mav_put_float(buf, 16, q4);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#else
mavlink_attitude_quaternion_t packet;
packet.time_boot_ms = time_boot_ms;
packet.q1 = q1;
packet.q2 = q2;
packet.q3 = q3;
packet.q4 = q4;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
}
/**
* @brief Pack a attitude_quaternion 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 time_boot_ms Timestamp (milliseconds since system boot)
* @param q1 Quaternion component 1
* @param q2 Quaternion component 2
* @param q3 Quaternion component 3
* @param q4 Quaternion component 4
* @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_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, q1);
_mav_put_float(buf, 8, q2);
_mav_put_float(buf, 12, q3);
_mav_put_float(buf, 16, q4);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#else
mavlink_attitude_quaternion_t packet;
packet.time_boot_ms = time_boot_ms;
packet.q1 = q1;
packet.q2 = q2;
packet.q3 = q3;
packet.q4 = q4;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
}
/**
* @brief Encode a attitude_quaternion 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 attitude_quaternion C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
{
return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
}
/**
* @brief Encode a attitude_quaternion 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 attitude_quaternion C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
{
return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
}
/**
* @brief Send a attitude_quaternion message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param q1 Quaternion component 1
* @param q2 Quaternion component 2
* @param q3 Quaternion component 3
* @param q4 Quaternion component 4
* @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_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, q1);
_mav_put_float(buf, 8, q2);
_mav_put_float(buf, 12, q3);
_mav_put_float(buf, 16, q4);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
#else
mavlink_attitude_quaternion_t packet;
packet.time_boot_ms = time_boot_ms;
packet.q1 = q1;
packet.q2 = q2;
packet.q3 = q3;
packet.q4 = q4;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
#endif
}
#endif
// MESSAGE ATTITUDE_QUATERNION UNPACKING
/**
* @brief Get field time_boot_ms from attitude_quaternion message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field q1 from attitude_quaternion message
*
* @return Quaternion component 1
*/
static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field q2 from attitude_quaternion message
*
* @return Quaternion component 2
*/
static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field q3 from attitude_quaternion message
*
* @return Quaternion component 3
*/
static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field q4 from attitude_quaternion message
*
* @return Quaternion component 4
*/
static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field rollspeed from attitude_quaternion message
*
* @return Roll angular speed (rad/s)
*/
static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field pitchspeed from attitude_quaternion message
*
* @return Pitch angular speed (rad/s)
*/
static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field yawspeed from attitude_quaternion message
*
* @return Yaw angular speed (rad/s)
*/
static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Decode a attitude_quaternion message into a struct
*
* @param msg The message to decode
* @param attitude_quaternion C-struct to decode the message contents into
*/
static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
{
#if MAVLINK_NEED_BYTE_SWAP
attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
#else
memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_auth_key.h
+177
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@@ -0,0 +1,177 @@
// 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_ID_AUTH_KEY_CRC 119
#define MAVLINK_MSG_ID_7_CRC 119
#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[MAVLINK_MSG_ID_AUTH_KEY_LEN];
_mav_put_char_array(buf, 0, key, 32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#else
mavlink_auth_key_t packet;
mav_array_memcpy(packet.key, key, sizeof(char)*32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_AUTH_KEY_LEN];
_mav_put_char_array(buf, 0, key, 32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#else
mavlink_auth_key_t packet;
mav_array_memcpy(packet.key, key, sizeof(char)*32);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
}
/**
* @brief Encode a auth_key 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 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 Encode a auth_key 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 auth_key C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_auth_key_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
{
return mavlink_msg_auth_key_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_AUTH_KEY_LEN];
_mav_put_char_array(buf, 0, key, 32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
#else
mavlink_auth_key_t packet;
mav_array_memcpy(packet.key, key, sizeof(char)*32);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
#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), MAVLINK_MSG_ID_AUTH_KEY_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_battery_status.h
+353
View File
@@ -0,0 +1,353 @@
// MESSAGE BATTERY_STATUS PACKING
#define MAVLINK_MSG_ID_BATTERY_STATUS 147
typedef struct __mavlink_battery_status_t
{
uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_4; ///< Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_5; ///< Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
uint16_t voltage_cell_6; ///< Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
uint8_t accu_id; ///< Accupack ID
int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
} mavlink_battery_status_t;
#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 16
#define MAVLINK_MSG_ID_147_LEN 16
#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 42
#define MAVLINK_MSG_ID_147_CRC 42
#define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
"BATTERY_STATUS", \
9, \
{ { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
{ "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
{ "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
{ "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
{ "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
{ "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \
{ "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \
{ "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \
} \
}
/**
* @brief Pack a battery_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 accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
}
/**
* @brief Pack a battery_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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
}
/**
* @brief Encode a battery_status 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 battery_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
{
return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining);
}
/**
* @brief Encode a battery_status 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 battery_status C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
{
return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->battery_remaining);
}
/**
* @brief Send a battery_status message
* @param chan MAVLink channel to send the message
*
* @param accu_id Accupack ID
* @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
* @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
* @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int8_t battery_remaining)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
_mav_put_uint16_t(buf, 0, voltage_cell_1);
_mav_put_uint16_t(buf, 2, voltage_cell_2);
_mav_put_uint16_t(buf, 4, voltage_cell_3);
_mav_put_uint16_t(buf, 6, voltage_cell_4);
_mav_put_uint16_t(buf, 8, voltage_cell_5);
_mav_put_uint16_t(buf, 10, voltage_cell_6);
_mav_put_int16_t(buf, 12, current_battery);
_mav_put_uint8_t(buf, 14, accu_id);
_mav_put_int8_t(buf, 15, battery_remaining);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
#else
mavlink_battery_status_t packet;
packet.voltage_cell_1 = voltage_cell_1;
packet.voltage_cell_2 = voltage_cell_2;
packet.voltage_cell_3 = voltage_cell_3;
packet.voltage_cell_4 = voltage_cell_4;
packet.voltage_cell_5 = voltage_cell_5;
packet.voltage_cell_6 = voltage_cell_6;
packet.current_battery = current_battery;
packet.accu_id = accu_id;
packet.battery_remaining = battery_remaining;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
#endif
}
#endif
// MESSAGE BATTERY_STATUS UNPACKING
/**
* @brief Get field accu_id from battery_status message
*
* @return Accupack ID
*/
static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field voltage_cell_1 from battery_status message
*
* @return Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field voltage_cell_2 from battery_status message
*
* @return Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 2);
}
/**
* @brief Get field voltage_cell_3 from battery_status message
*
* @return Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 4);
}
/**
* @brief Get field voltage_cell_4 from battery_status message
*
* @return Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 6);
}
/**
* @brief Get field voltage_cell_5 from battery_status message
*
* @return Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 8);
}
/**
* @brief Get field voltage_cell_6 from battery_status message
*
* @return Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
*/
static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 10);
}
/**
* @brief Get field current_battery from battery_status message
*
* @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
*/
static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field battery_remaining from battery_status message
*
* @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
*/
static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
{
return _MAV_RETURN_int8_t(msg, 15);
}
/**
* @brief Decode a battery_status message into a struct
*
* @param msg The message to decode
* @param battery_status C-struct to decode the message contents into
*/
static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status)
{
#if MAVLINK_NEED_BYTE_SWAP
battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg);
battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg);
battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg);
battery_status->voltage_cell_4 = mavlink_msg_battery_status_get_voltage_cell_4(msg);
battery_status->voltage_cell_5 = mavlink_msg_battery_status_get_voltage_cell_5(msg);
battery_status->voltage_cell_6 = mavlink_msg_battery_status_get_voltage_cell_6(msg);
battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg);
battery_status->accu_id = mavlink_msg_battery_status_get_accu_id(msg);
battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg);
#else
memcpy(battery_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_change_operator_control.h
+237
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@@ -0,0 +1,237 @@
// 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_ID_CHANGE_OPERATOR_CONTROL_CRC 217
#define MAVLINK_MSG_ID_5_CRC 217
#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[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
}
/**
* @brief Encode a change_operator_control 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 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 Encode a change_operator_control 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 change_operator_control C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_change_operator_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
{
return mavlink_msg_change_operator_control_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN];
_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);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
#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);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
#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), MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_change_operator_control_ack.h
+221
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@@ -0,0 +1,221 @@
// 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_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC 104
#define MAVLINK_MSG_ID_6_CRC 104
#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[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
}
/**
* @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 will be 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[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN];
_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_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#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_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
}
/**
* @brief Encode a change_operator_control_ack 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 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 Encode a change_operator_control_ack 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 change_operator_control_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_change_operator_control_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
{
return mavlink_msg_change_operator_control_ack_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN];
_mav_put_uint8_t(buf, 0, gcs_system_id);
_mav_put_uint8_t(buf, 1, control_request);
_mav_put_uint8_t(buf, 2, ack);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
#else
mavlink_change_operator_control_ack_t packet;
packet.gcs_system_id = gcs_system_id;
packet.control_request = control_request;
packet.ack = ack;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
#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), MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_command_ack.h
+199
View File
@@ -0,0 +1,199 @@
// MESSAGE COMMAND_ACK PACKING
#define MAVLINK_MSG_ID_COMMAND_ACK 77
typedef struct __mavlink_command_ack_t
{
uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
uint8_t result; ///< See MAV_RESULT enum
} mavlink_command_ack_t;
#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
#define MAVLINK_MSG_ID_77_LEN 3
#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
#define MAVLINK_MSG_ID_77_CRC 143
#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
"COMMAND_ACK", \
2, \
{ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, 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 Command ID, as defined by MAV_CMD enum.
* @param result See MAV_RESULT enum
* @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,
uint16_t command, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
_mav_put_uint16_t(buf, 0, command);
_mav_put_uint8_t(buf, 2, result);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#else
mavlink_command_ack_t packet;
packet.command = command;
packet.result = result;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
}
/**
* @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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param command Command ID, as defined by MAV_CMD enum.
* @param result See MAV_RESULT enum
* @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,
uint16_t command,uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
_mav_put_uint16_t(buf, 0, command);
_mav_put_uint8_t(buf, 2, result);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#else
mavlink_command_ack_t packet;
packet.command = command;
packet.result = result;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
}
/**
* @brief Encode a command_ack 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 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 Encode a command_ack 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 command_ack C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
{
return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
}
/**
* @brief Send a command_ack message
* @param chan MAVLink channel to send the message
*
* @param command Command ID, as defined by MAV_CMD enum.
* @param result See MAV_RESULT enum
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
_mav_put_uint16_t(buf, 0, command);
_mav_put_uint8_t(buf, 2, result);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
#else
mavlink_command_ack_t packet;
packet.command = command;
packet.result = result;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
#endif
}
#endif
// MESSAGE COMMAND_ACK UNPACKING
/**
* @brief Get field command from command_ack message
*
* @return Command ID, as defined by MAV_CMD enum.
*/
static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field result from command_ack message
*
* @return See MAV_RESULT enum
*/
static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @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), MAVLINK_MSG_ID_COMMAND_ACK_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_command_long.h
+397
View File
@@ -0,0 +1,397 @@
// MESSAGE COMMAND_LONG PACKING
#define MAVLINK_MSG_ID_COMMAND_LONG 76
typedef struct __mavlink_command_long_t
{
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.
float param5; ///< Parameter 5, as defined by MAV_CMD enum.
float param6; ///< Parameter 6, as defined by MAV_CMD enum.
float param7; ///< Parameter 7, as defined by MAV_CMD enum.
uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
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 confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
} mavlink_command_long_t;
#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33
#define MAVLINK_MSG_ID_76_LEN 33
#define MAVLINK_MSG_ID_COMMAND_LONG_CRC 152
#define MAVLINK_MSG_ID_76_CRC 152
#define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \
"COMMAND_LONG", \
11, \
{ { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
{ "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
{ "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
{ "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
{ "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
{ "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
{ "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
{ "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
{ "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
} \
}
/**
* @brief Pack a command_long 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.
* @param param5 Parameter 5, as defined by MAV_CMD enum.
* @param param6 Parameter 6, as defined by MAV_CMD enum.
* @param param7 Parameter 7, 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_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, param5);
_mav_put_float(buf, 20, param6);
_mav_put_float(buf, 24, param7);
_mav_put_uint16_t(buf, 28, command);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, confirmation);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#else
mavlink_command_long_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.param5 = param5;
packet.param6 = param6;
packet.param7 = param7;
packet.command = command;
packet.target_system = target_system;
packet.target_component = target_component;
packet.confirmation = confirmation;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
}
/**
* @brief Pack a command_long 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 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.
* @param param5 Parameter 5, as defined by MAV_CMD enum.
* @param param6 Parameter 6, as defined by MAV_CMD enum.
* @param param7 Parameter 7, 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_long_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 command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, param5);
_mav_put_float(buf, 20, param6);
_mav_put_float(buf, 24, param7);
_mav_put_uint16_t(buf, 28, command);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, confirmation);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#else
mavlink_command_long_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.param5 = param5;
packet.param6 = param6;
packet.param7 = param7;
packet.command = command;
packet.target_system = target_system;
packet.target_component = target_component;
packet.confirmation = confirmation;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
}
/**
* @brief Encode a command_long 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 command_long C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
{
return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
}
/**
* @brief Encode a command_long 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 command_long C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_command_long_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
{
return mavlink_msg_command_long_pack_chan(system_id, component_id, chan, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
}
/**
* @brief Send a command_long 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.
* @param param5 Parameter 5, as defined by MAV_CMD enum.
* @param param6 Parameter 6, as defined by MAV_CMD enum.
* @param param7 Parameter 7, as defined by MAV_CMD enum.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
_mav_put_float(buf, 0, param1);
_mav_put_float(buf, 4, param2);
_mav_put_float(buf, 8, param3);
_mav_put_float(buf, 12, param4);
_mav_put_float(buf, 16, param5);
_mav_put_float(buf, 20, param6);
_mav_put_float(buf, 24, param7);
_mav_put_uint16_t(buf, 28, command);
_mav_put_uint8_t(buf, 30, target_system);
_mav_put_uint8_t(buf, 31, target_component);
_mav_put_uint8_t(buf, 32, confirmation);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
#else
mavlink_command_long_t packet;
packet.param1 = param1;
packet.param2 = param2;
packet.param3 = param3;
packet.param4 = param4;
packet.param5 = param5;
packet.param6 = param6;
packet.param7 = param7;
packet.command = command;
packet.target_system = target_system;
packet.target_component = target_component;
packet.confirmation = confirmation;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
#endif
}
#endif
// MESSAGE COMMAND_LONG UNPACKING
/**
* @brief Get field target_system from command_long message
*
* @return System which should execute the command
*/
static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 30);
}
/**
* @brief Get field target_component from command_long message
*
* @return Component which should execute the command, 0 for all components
*/
static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 31);
}
/**
* @brief Get field command from command_long message
*
* @return Command ID, as defined by MAV_CMD enum.
*/
static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 28);
}
/**
* @brief Get field confirmation from command_long message
*
* @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
*/
static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 32);
}
/**
* @brief Get field param1 from command_long message
*
* @return Parameter 1, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field param2 from command_long message
*
* @return Parameter 2, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field param3 from command_long message
*
* @return Parameter 3, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field param4 from command_long message
*
* @return Parameter 4, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field param5 from command_long message
*
* @return Parameter 5, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field param6 from command_long message
*
* @return Parameter 6, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field param7 from command_long message
*
* @return Parameter 7, as defined by MAV_CMD enum.
*/
static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Decode a command_long message into a struct
*
* @param msg The message to decode
* @param command_long C-struct to decode the message contents into
*/
static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long)
{
#if MAVLINK_NEED_BYTE_SWAP
command_long->param1 = mavlink_msg_command_long_get_param1(msg);
command_long->param2 = mavlink_msg_command_long_get_param2(msg);
command_long->param3 = mavlink_msg_command_long_get_param3(msg);
command_long->param4 = mavlink_msg_command_long_get_param4(msg);
command_long->param5 = mavlink_msg_command_long_get_param5(msg);
command_long->param6 = mavlink_msg_command_long_get_param6(msg);
command_long->param7 = mavlink_msg_command_long_get_param7(msg);
command_long->command = mavlink_msg_command_long_get_command(msg);
command_long->target_system = mavlink_msg_command_long_get_target_system(msg);
command_long->target_component = mavlink_msg_command_long_get_target_component(msg);
command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg);
#else
memcpy(command_long, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMMAND_LONG_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_data_stream.h
+221
View File
@@ -0,0 +1,221 @@
// MESSAGE DATA_STREAM PACKING
#define MAVLINK_MSG_ID_DATA_STREAM 67
typedef struct __mavlink_data_stream_t
{
uint16_t message_rate; ///< The requested interval between two messages of this type
uint8_t stream_id; ///< The ID of the requested data stream
uint8_t on_off; ///< 1 stream is enabled, 0 stream is stopped.
} mavlink_data_stream_t;
#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
#define MAVLINK_MSG_ID_67_LEN 4
#define MAVLINK_MSG_ID_DATA_STREAM_CRC 21
#define MAVLINK_MSG_ID_67_CRC 21
#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
"DATA_STREAM", \
3, \
{ { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
{ "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
{ "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
} \
}
/**
* @brief Pack a 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 stream_id The ID of the requested data stream
* @param message_rate The requested interval between two messages of this type
* @param on_off 1 stream is enabled, 0 stream is stopped.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
_mav_put_uint16_t(buf, 0, message_rate);
_mav_put_uint8_t(buf, 2, stream_id);
_mav_put_uint8_t(buf, 3, on_off);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#else
mavlink_data_stream_t packet;
packet.message_rate = message_rate;
packet.stream_id = stream_id;
packet.on_off = on_off;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
}
/**
* @brief Pack a 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param stream_id The ID of the requested data stream
* @param message_rate The requested interval between two messages of this type
* @param on_off 1 stream is enabled, 0 stream is stopped.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
_mav_put_uint16_t(buf, 0, message_rate);
_mav_put_uint8_t(buf, 2, stream_id);
_mav_put_uint8_t(buf, 3, on_off);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#else
mavlink_data_stream_t packet;
packet.message_rate = message_rate;
packet.stream_id = stream_id;
packet.on_off = on_off;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
}
/**
* @brief Encode a data_stream 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 data_stream C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
{
return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
}
/**
* @brief Encode a data_stream 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 data_stream C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_data_stream_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
{
return mavlink_msg_data_stream_pack_chan(system_id, component_id, chan, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
}
/**
* @brief Send a data_stream message
* @param chan MAVLink channel to send the message
*
* @param stream_id The ID of the requested data stream
* @param message_rate The requested interval between two messages of this type
* @param on_off 1 stream is enabled, 0 stream is stopped.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
_mav_put_uint16_t(buf, 0, message_rate);
_mav_put_uint8_t(buf, 2, stream_id);
_mav_put_uint8_t(buf, 3, on_off);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
#else
mavlink_data_stream_t packet;
packet.message_rate = message_rate;
packet.stream_id = stream_id;
packet.on_off = on_off;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
#endif
}
#endif
// MESSAGE DATA_STREAM UNPACKING
/**
* @brief Get field stream_id from data_stream message
*
* @return The ID of the requested data stream
*/
static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Get field message_rate from data_stream message
*
* @return The requested interval between two messages of this type
*/
static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field on_off from data_stream message
*
* @return 1 stream is enabled, 0 stream is stopped.
*/
static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Decode a data_stream message into a struct
*
* @param msg The message to decode
* @param data_stream C-struct to decode the message contents into
*/
static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
{
#if MAVLINK_NEED_BYTE_SWAP
data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
#else
memcpy(data_stream, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA_STREAM_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_debug.h
+221
View File
@@ -0,0 +1,221 @@
// MESSAGE DEBUG PACKING
#define MAVLINK_MSG_ID_DEBUG 254
typedef struct __mavlink_debug_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
float value; ///< DEBUG value
uint8_t ind; ///< index of debug variable
} mavlink_debug_t;
#define MAVLINK_MSG_ID_DEBUG_LEN 9
#define MAVLINK_MSG_ID_254_LEN 9
#define MAVLINK_MSG_ID_DEBUG_CRC 46
#define MAVLINK_MSG_ID_254_CRC 46
#define MAVLINK_MESSAGE_INFO_DEBUG { \
"DEBUG", \
3, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
{ "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
{ "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
} \
}
/**
* @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 time_boot_ms Timestamp (milliseconds since system boot)
* @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,
uint32_t time_boot_ms, uint8_t ind, float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DEBUG_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, value);
_mav_put_uint8_t(buf, 8, ind);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
#else
mavlink_debug_t packet;
packet.time_boot_ms = time_boot_ms;
packet.value = value;
packet.ind = ind;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
}
/**
* @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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @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,
uint32_t time_boot_ms,uint8_t ind,float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DEBUG_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, value);
_mav_put_uint8_t(buf, 8, ind);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
#else
mavlink_debug_t packet;
packet.time_boot_ms = time_boot_ms;
packet.value = value;
packet.ind = ind;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
}
/**
* @brief Encode a debug 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 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->time_boot_ms, debug->ind, debug->value);
}
/**
* @brief Encode a debug 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 debug C-struct to read the message contents from
*/
static 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)
{
return mavlink_msg_debug_pack_chan(system_id, component_id, chan, msg, debug->time_boot_ms, debug->ind, debug->value);
}
/**
* @brief Send a debug message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @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, uint32_t time_boot_ms, uint8_t ind, float value)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DEBUG_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_float(buf, 4, value);
_mav_put_uint8_t(buf, 8, ind);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
#else
mavlink_debug_t packet;
packet.time_boot_ms = time_boot_ms;
packet.value = value;
packet.ind = ind;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_LEN);
#endif
#endif
}
#endif
// MESSAGE DEBUG UNPACKING
/**
* @brief Get field time_boot_ms from debug message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @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, 8);
}
/**
* @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, 4);
}
/**
* @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->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
debug->value = mavlink_msg_debug_get_value(msg);
debug->ind = mavlink_msg_debug_get_ind(msg);
#else
memcpy(debug, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DEBUG_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_debug_vect.h
+259
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@@ -0,0 +1,259 @@
// MESSAGE DEBUG_VECT PACKING
#define MAVLINK_MSG_ID_DEBUG_VECT 250
typedef struct __mavlink_debug_vect_t
{
uint64_t time_usec; ///< Timestamp
float x; ///< x
float y; ///< y
float z; ///< z
char name[10]; ///< Name
} mavlink_debug_vect_t;
#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
#define MAVLINK_MSG_ID_250_LEN 30
#define MAVLINK_MSG_ID_DEBUG_VECT_CRC 49
#define MAVLINK_MSG_ID_250_CRC 49
#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
"DEBUG_VECT", \
5, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \
{ "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \
} \
}
/**
* @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 time_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 time_usec, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_char_array(buf, 20, name, 10);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#else
mavlink_debug_vect_t packet;
packet.time_usec = time_usec;
packet.x = x;
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
}
/**
* @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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param name Name
* @param time_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 time_usec,float x,float y,float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_char_array(buf, 20, name, 10);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#else
mavlink_debug_vect_t packet;
packet.time_usec = time_usec;
packet.x = x;
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.name, name, sizeof(char)*10);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
}
/**
* @brief Encode a debug_vect 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 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->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
}
/**
* @brief Encode a debug_vect 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 debug_vect C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_debug_vect_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
{
return mavlink_msg_debug_vect_pack_chan(system_id, component_id, chan, msg, debug_vect->name, debug_vect->time_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 time_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 time_usec, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_char_array(buf, 20, name, 10);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
#else
mavlink_debug_vect_t packet;
packet.time_usec = time_usec;
packet.x = x;
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.name, name, sizeof(char)*10);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
#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, 20);
}
/**
* @brief Get field time_usec from debug_vect message
*
* @return Timestamp
*/
static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @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, 8);
}
/**
* @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, 12);
}
/**
* @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, 16);
}
/**
* @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
debug_vect->time_usec = mavlink_msg_debug_vect_get_time_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);
mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
#else
memcpy(debug_vect, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DEBUG_VECT_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_file_transfer_dir_list.h
+215
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@@ -0,0 +1,215 @@
// MESSAGE FILE_TRANSFER_DIR_LIST PACKING
#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST 111
typedef struct __mavlink_file_transfer_dir_list_t
{
uint64_t transfer_uid; ///< Unique transfer ID
char dir_path[240]; ///< Directory path to list
uint8_t flags; ///< RESERVED
} mavlink_file_transfer_dir_list_t;
#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN 249
#define MAVLINK_MSG_ID_111_LEN 249
#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC 93
#define MAVLINK_MSG_ID_111_CRC 93
#define MAVLINK_MSG_FILE_TRANSFER_DIR_LIST_FIELD_DIR_PATH_LEN 240
#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST { \
"FILE_TRANSFER_DIR_LIST", \
3, \
{ { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_dir_list_t, transfer_uid) }, \
{ "dir_path", NULL, MAVLINK_TYPE_CHAR, 240, 8, offsetof(mavlink_file_transfer_dir_list_t, dir_path) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 248, offsetof(mavlink_file_transfer_dir_list_t, flags) }, \
} \
}
/**
* @brief Pack a file_transfer_dir_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 transfer_uid Unique transfer ID
* @param dir_path Directory path to list
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t transfer_uid, const char *dir_path, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#else
mavlink_file_transfer_dir_list_t packet;
packet.transfer_uid = transfer_uid;
packet.flags = flags;
mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
}
/**
* @brief Pack a file_transfer_dir_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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param transfer_uid Unique transfer ID
* @param dir_path Directory path to list
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t transfer_uid,const char *dir_path,uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#else
mavlink_file_transfer_dir_list_t packet;
packet.transfer_uid = transfer_uid;
packet.flags = flags;
mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
}
/**
* @brief Encode a file_transfer_dir_list 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 file_transfer_dir_list C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
{
return mavlink_msg_file_transfer_dir_list_pack(system_id, component_id, msg, file_transfer_dir_list->transfer_uid, file_transfer_dir_list->dir_path, file_transfer_dir_list->flags);
}
/**
* @brief Encode a file_transfer_dir_list 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 file_transfer_dir_list C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
{
return mavlink_msg_file_transfer_dir_list_pack_chan(system_id, component_id, chan, msg, file_transfer_dir_list->transfer_uid, file_transfer_dir_list->dir_path, file_transfer_dir_list->flags);
}
/**
* @brief Send a file_transfer_dir_list message
* @param chan MAVLink channel to send the message
*
* @param transfer_uid Unique transfer ID
* @param dir_path Directory path to list
* @param flags RESERVED
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_file_transfer_dir_list_send(mavlink_channel_t chan, uint64_t transfer_uid, const char *dir_path, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 248, flags);
_mav_put_char_array(buf, 8, dir_path, 240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
#else
mavlink_file_transfer_dir_list_t packet;
packet.transfer_uid = transfer_uid;
packet.flags = flags;
mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
#endif
}
#endif
// MESSAGE FILE_TRANSFER_DIR_LIST UNPACKING
/**
* @brief Get field transfer_uid from file_transfer_dir_list message
*
* @return Unique transfer ID
*/
static inline uint64_t mavlink_msg_file_transfer_dir_list_get_transfer_uid(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field dir_path from file_transfer_dir_list message
*
* @return Directory path to list
*/
static inline uint16_t mavlink_msg_file_transfer_dir_list_get_dir_path(const mavlink_message_t* msg, char *dir_path)
{
return _MAV_RETURN_char_array(msg, dir_path, 240, 8);
}
/**
* @brief Get field flags from file_transfer_dir_list message
*
* @return RESERVED
*/
static inline uint8_t mavlink_msg_file_transfer_dir_list_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 248);
}
/**
* @brief Decode a file_transfer_dir_list message into a struct
*
* @param msg The message to decode
* @param file_transfer_dir_list C-struct to decode the message contents into
*/
static inline void mavlink_msg_file_transfer_dir_list_decode(const mavlink_message_t* msg, mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
{
#if MAVLINK_NEED_BYTE_SWAP
file_transfer_dir_list->transfer_uid = mavlink_msg_file_transfer_dir_list_get_transfer_uid(msg);
mavlink_msg_file_transfer_dir_list_get_dir_path(msg, file_transfer_dir_list->dir_path);
file_transfer_dir_list->flags = mavlink_msg_file_transfer_dir_list_get_flags(msg);
#else
memcpy(file_transfer_dir_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_file_transfer_res.h
+199
View File
@@ -0,0 +1,199 @@
// MESSAGE FILE_TRANSFER_RES PACKING
#define MAVLINK_MSG_ID_FILE_TRANSFER_RES 112
typedef struct __mavlink_file_transfer_res_t
{
uint64_t transfer_uid; ///< Unique transfer ID
uint8_t result; ///< 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
} mavlink_file_transfer_res_t;
#define MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN 9
#define MAVLINK_MSG_ID_112_LEN 9
#define MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC 124
#define MAVLINK_MSG_ID_112_CRC 124
#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES { \
"FILE_TRANSFER_RES", \
2, \
{ { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_res_t, transfer_uid) }, \
{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_file_transfer_res_t, result) }, \
} \
}
/**
* @brief Pack a file_transfer_res 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 transfer_uid Unique transfer ID
* @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_res_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t transfer_uid, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#else
mavlink_file_transfer_res_t packet;
packet.transfer_uid = transfer_uid;
packet.result = result;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_RES;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
}
/**
* @brief Pack a file_transfer_res 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 transfer_uid Unique transfer ID
* @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_res_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t transfer_uid,uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#else
mavlink_file_transfer_res_t packet;
packet.transfer_uid = transfer_uid;
packet.result = result;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_RES;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
}
/**
* @brief Encode a file_transfer_res 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 file_transfer_res C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_res_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_res_t* file_transfer_res)
{
return mavlink_msg_file_transfer_res_pack(system_id, component_id, msg, file_transfer_res->transfer_uid, file_transfer_res->result);
}
/**
* @brief Encode a file_transfer_res 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 file_transfer_res C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_res_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_file_transfer_res_t* file_transfer_res)
{
return mavlink_msg_file_transfer_res_pack_chan(system_id, component_id, chan, msg, file_transfer_res->transfer_uid, file_transfer_res->result);
}
/**
* @brief Send a file_transfer_res message
* @param chan MAVLink channel to send the message
*
* @param transfer_uid Unique transfer ID
* @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_file_transfer_res_send(mavlink_channel_t chan, uint64_t transfer_uid, uint8_t result)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint8_t(buf, 8, result);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
#else
mavlink_file_transfer_res_t packet;
packet.transfer_uid = transfer_uid;
packet.result = result;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
#endif
}
#endif
// MESSAGE FILE_TRANSFER_RES UNPACKING
/**
* @brief Get field transfer_uid from file_transfer_res message
*
* @return Unique transfer ID
*/
static inline uint64_t mavlink_msg_file_transfer_res_get_transfer_uid(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field result from file_transfer_res message
*
* @return 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
*/
static inline uint8_t mavlink_msg_file_transfer_res_get_result(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 8);
}
/**
* @brief Decode a file_transfer_res message into a struct
*
* @param msg The message to decode
* @param file_transfer_res C-struct to decode the message contents into
*/
static inline void mavlink_msg_file_transfer_res_decode(const mavlink_message_t* msg, mavlink_file_transfer_res_t* file_transfer_res)
{
#if MAVLINK_NEED_BYTE_SWAP
file_transfer_res->transfer_uid = mavlink_msg_file_transfer_res_get_transfer_uid(msg);
file_transfer_res->result = mavlink_msg_file_transfer_res_get_result(msg);
#else
memcpy(file_transfer_res, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_file_transfer_start.h
+259
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@@ -0,0 +1,259 @@
// MESSAGE FILE_TRANSFER_START PACKING
#define MAVLINK_MSG_ID_FILE_TRANSFER_START 110
typedef struct __mavlink_file_transfer_start_t
{
uint64_t transfer_uid; ///< Unique transfer ID
uint32_t file_size; ///< File size in bytes
char dest_path[240]; ///< Destination path
uint8_t direction; ///< Transfer direction: 0: from requester, 1: to requester
uint8_t flags; ///< RESERVED
} mavlink_file_transfer_start_t;
#define MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN 254
#define MAVLINK_MSG_ID_110_LEN 254
#define MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC 235
#define MAVLINK_MSG_ID_110_CRC 235
#define MAVLINK_MSG_FILE_TRANSFER_START_FIELD_DEST_PATH_LEN 240
#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START { \
"FILE_TRANSFER_START", \
5, \
{ { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_start_t, transfer_uid) }, \
{ "file_size", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_file_transfer_start_t, file_size) }, \
{ "dest_path", NULL, MAVLINK_TYPE_CHAR, 240, 12, offsetof(mavlink_file_transfer_start_t, dest_path) }, \
{ "direction", NULL, MAVLINK_TYPE_UINT8_T, 0, 252, offsetof(mavlink_file_transfer_start_t, direction) }, \
{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 253, offsetof(mavlink_file_transfer_start_t, flags) }, \
} \
}
/**
* @brief Pack a file_transfer_start 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 transfer_uid Unique transfer ID
* @param dest_path Destination path
* @param direction Transfer direction: 0: from requester, 1: to requester
* @param file_size File size in bytes
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_start_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#else
mavlink_file_transfer_start_t packet;
packet.transfer_uid = transfer_uid;
packet.file_size = file_size;
packet.direction = direction;
packet.flags = flags;
mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_START;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
}
/**
* @brief Pack a file_transfer_start 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 transfer_uid Unique transfer ID
* @param dest_path Destination path
* @param direction Transfer direction: 0: from requester, 1: to requester
* @param file_size File size in bytes
* @param flags RESERVED
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_file_transfer_start_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t transfer_uid,const char *dest_path,uint8_t direction,uint32_t file_size,uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#else
mavlink_file_transfer_start_t packet;
packet.transfer_uid = transfer_uid;
packet.file_size = file_size;
packet.direction = direction;
packet.flags = flags;
mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_START;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
}
/**
* @brief Encode a file_transfer_start 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 file_transfer_start C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_start_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_start_t* file_transfer_start)
{
return mavlink_msg_file_transfer_start_pack(system_id, component_id, msg, file_transfer_start->transfer_uid, file_transfer_start->dest_path, file_transfer_start->direction, file_transfer_start->file_size, file_transfer_start->flags);
}
/**
* @brief Encode a file_transfer_start 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 file_transfer_start C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_file_transfer_start_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_file_transfer_start_t* file_transfer_start)
{
return mavlink_msg_file_transfer_start_pack_chan(system_id, component_id, chan, msg, file_transfer_start->transfer_uid, file_transfer_start->dest_path, file_transfer_start->direction, file_transfer_start->file_size, file_transfer_start->flags);
}
/**
* @brief Send a file_transfer_start message
* @param chan MAVLink channel to send the message
*
* @param transfer_uid Unique transfer ID
* @param dest_path Destination path
* @param direction Transfer direction: 0: from requester, 1: to requester
* @param file_size File size in bytes
* @param flags RESERVED
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_file_transfer_start_send(mavlink_channel_t chan, uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN];
_mav_put_uint64_t(buf, 0, transfer_uid);
_mav_put_uint32_t(buf, 8, file_size);
_mav_put_uint8_t(buf, 252, direction);
_mav_put_uint8_t(buf, 253, flags);
_mav_put_char_array(buf, 12, dest_path, 240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
#else
mavlink_file_transfer_start_t packet;
packet.transfer_uid = transfer_uid;
packet.file_size = file_size;
packet.direction = direction;
packet.flags = flags;
mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
#endif
}
#endif
// MESSAGE FILE_TRANSFER_START UNPACKING
/**
* @brief Get field transfer_uid from file_transfer_start message
*
* @return Unique transfer ID
*/
static inline uint64_t mavlink_msg_file_transfer_start_get_transfer_uid(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field dest_path from file_transfer_start message
*
* @return Destination path
*/
static inline uint16_t mavlink_msg_file_transfer_start_get_dest_path(const mavlink_message_t* msg, char *dest_path)
{
return _MAV_RETURN_char_array(msg, dest_path, 240, 12);
}
/**
* @brief Get field direction from file_transfer_start message
*
* @return Transfer direction: 0: from requester, 1: to requester
*/
static inline uint8_t mavlink_msg_file_transfer_start_get_direction(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 252);
}
/**
* @brief Get field file_size from file_transfer_start message
*
* @return File size in bytes
*/
static inline uint32_t mavlink_msg_file_transfer_start_get_file_size(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 8);
}
/**
* @brief Get field flags from file_transfer_start message
*
* @return RESERVED
*/
static inline uint8_t mavlink_msg_file_transfer_start_get_flags(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 253);
}
/**
* @brief Decode a file_transfer_start message into a struct
*
* @param msg The message to decode
* @param file_transfer_start C-struct to decode the message contents into
*/
static inline void mavlink_msg_file_transfer_start_decode(const mavlink_message_t* msg, mavlink_file_transfer_start_t* file_transfer_start)
{
#if MAVLINK_NEED_BYTE_SWAP
file_transfer_start->transfer_uid = mavlink_msg_file_transfer_start_get_transfer_uid(msg);
file_transfer_start->file_size = mavlink_msg_file_transfer_start_get_file_size(msg);
mavlink_msg_file_transfer_start_get_dest_path(msg, file_transfer_start->dest_path);
file_transfer_start->direction = mavlink_msg_file_transfer_start_get_direction(msg);
file_transfer_start->flags = mavlink_msg_file_transfer_start_get_flags(msg);
#else
memcpy(file_transfer_start, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position_int.h
+353
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@@ -0,0 +1,353 @@
// MESSAGE GLOBAL_POSITION_INT PACKING
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
typedef struct __mavlink_global_position_int_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL
int32_t relative_alt; ///< Altitude above ground 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
uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
} mavlink_global_position_int_t;
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
#define MAVLINK_MSG_ID_33_LEN 28
#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
#define MAVLINK_MSG_ID_33_CRC 104
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
"GLOBAL_POSITION_INT", \
9, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
{ "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
{ "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
} \
}
/**
* @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 time_boot_ms Timestamp (milliseconds since system boot)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
* @param relative_alt Altitude above ground 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 hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @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,
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, lon);
_mav_put_int32_t(buf, 12, alt);
_mav_put_int32_t(buf, 16, relative_alt);
_mav_put_int16_t(buf, 20, vx);
_mav_put_int16_t(buf, 22, vy);
_mav_put_int16_t(buf, 24, vz);
_mav_put_uint16_t(buf, 26, hdg);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#else
mavlink_global_position_int_t packet;
packet.time_boot_ms = time_boot_ms;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.relative_alt = relative_alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.hdg = hdg;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
}
/**
* @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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
* @param relative_alt Altitude above ground 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 hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @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,
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, lon);
_mav_put_int32_t(buf, 12, alt);
_mav_put_int32_t(buf, 16, relative_alt);
_mav_put_int16_t(buf, 20, vx);
_mav_put_int16_t(buf, 22, vy);
_mav_put_int16_t(buf, 24, vz);
_mav_put_uint16_t(buf, 26, hdg);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#else
mavlink_global_position_int_t packet;
packet.time_boot_ms = time_boot_ms;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.relative_alt = relative_alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.hdg = hdg;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
}
/**
* @brief Encode a global_position_int 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 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->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
}
/**
* @brief Encode a global_position_int 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 global_position_int C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
{
return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
}
/**
* @brief Send a global_position_int message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
* @param relative_alt Altitude above ground 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 hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline 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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int32_t(buf, 4, lat);
_mav_put_int32_t(buf, 8, lon);
_mav_put_int32_t(buf, 12, alt);
_mav_put_int32_t(buf, 16, relative_alt);
_mav_put_int16_t(buf, 20, vx);
_mav_put_int16_t(buf, 22, vy);
_mav_put_int16_t(buf, 24, vz);
_mav_put_uint16_t(buf, 26, hdg);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
#else
mavlink_global_position_int_t packet;
packet.time_boot_ms = time_boot_ms;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.relative_alt = relative_alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.hdg = hdg;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
#endif
}
#endif
// MESSAGE GLOBAL_POSITION_INT UNPACKING
/**
* @brief Get field time_boot_ms from global_position_int message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @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, 4);
}
/**
* @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, 8);
}
/**
* @brief Get field alt from global_position_int message
*
* @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
*/
static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 12);
}
/**
* @brief Get field relative_alt from global_position_int message
*
* @return Altitude above ground in meters, expressed as * 1000 (millimeters)
*/
static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 16);
}
/**
* @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, 20);
}
/**
* @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, 22);
}
/**
* @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, 24);
}
/**
* @brief Get field hdg from global_position_int message
*
* @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
*/
static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 26);
}
/**
* @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->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
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->relative_alt = mavlink_msg_global_position_int_get_relative_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);
global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
#else
memcpy(global_position_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_position_setpoint_int.h
+265
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// MESSAGE GLOBAL_POSITION_SETPOINT_INT PACKING
#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT 52
typedef struct __mavlink_global_position_setpoint_int_t
{
int32_t latitude; ///< Latitude (WGS84), in degrees * 1E7
int32_t longitude; ///< Longitude (WGS84), in degrees * 1E7
int32_t altitude; ///< Altitude (WGS84), in meters * 1000 (positive for up)
int16_t yaw; ///< Desired yaw angle in degrees * 100
uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
} mavlink_global_position_setpoint_int_t;
#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN 15
#define MAVLINK_MSG_ID_52_LEN 15
#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC 141
#define MAVLINK_MSG_ID_52_CRC 141
#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT { \
"GLOBAL_POSITION_SETPOINT_INT", \
5, \
{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_setpoint_int_t, latitude) }, \
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_setpoint_int_t, longitude) }, \
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_setpoint_int_t, altitude) }, \
{ "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_setpoint_int_t, yaw) }, \
{ "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_global_position_setpoint_int_t, coordinate_frame) }, \
} \
}
/**
* @brief Pack a global_position_setpoint_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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
* @param latitude Latitude (WGS84), in degrees * 1E7
* @param longitude Longitude (WGS84), in degrees * 1E7
* @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
* @param yaw Desired yaw angle in degrees * 100
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#else
mavlink_global_position_setpoint_int_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.yaw = yaw;
packet.coordinate_frame = coordinate_frame;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
}
/**
* @brief Pack a global_position_setpoint_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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
* @param latitude Latitude (WGS84), in degrees * 1E7
* @param longitude Longitude (WGS84), in degrees * 1E7
* @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
* @param yaw Desired yaw angle in degrees * 100
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#else
mavlink_global_position_setpoint_int_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.yaw = yaw;
packet.coordinate_frame = coordinate_frame;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
}
/**
* @brief Encode a global_position_setpoint_int 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 global_position_setpoint_int C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
{
return mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw);
}
/**
* @brief Encode a global_position_setpoint_int 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 global_position_setpoint_int C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_global_position_setpoint_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
{
return mavlink_msg_global_position_setpoint_int_pack_chan(system_id, component_id, chan, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw);
}
/**
* @brief Send a global_position_setpoint_int message
* @param chan MAVLink channel to send the message
*
* @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
* @param latitude Latitude (WGS84), in degrees * 1E7
* @param longitude Longitude (WGS84), in degrees * 1E7
* @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
* @param yaw Desired yaw angle in degrees * 100
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
_mav_put_int16_t(buf, 12, yaw);
_mav_put_uint8_t(buf, 14, coordinate_frame);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
#else
mavlink_global_position_setpoint_int_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
packet.yaw = yaw;
packet.coordinate_frame = coordinate_frame;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
#endif
}
#endif
// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING
/**
* @brief Get field coordinate_frame from global_position_setpoint_int message
*
* @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
*/
static inline uint8_t mavlink_msg_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 14);
}
/**
* @brief Get field latitude from global_position_setpoint_int message
*
* @return Latitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field longitude from global_position_setpoint_int message
*
* @return Longitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field altitude from global_position_setpoint_int message
*
* @return Altitude (WGS84), in meters * 1000 (positive for up)
*/
static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Get field yaw from global_position_setpoint_int message
*
* @return Desired yaw angle in degrees * 100
*/
static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Decode a global_position_setpoint_int message into a struct
*
* @param msg The message to decode
* @param global_position_setpoint_int C-struct to decode the message contents into
*/
static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
{
#if MAVLINK_NEED_BYTE_SWAP
global_position_setpoint_int->latitude = mavlink_msg_global_position_setpoint_int_get_latitude(msg);
global_position_setpoint_int->longitude = mavlink_msg_global_position_setpoint_int_get_longitude(msg);
global_position_setpoint_int->altitude = mavlink_msg_global_position_setpoint_int_get_altitude(msg);
global_position_setpoint_int->yaw = mavlink_msg_global_position_setpoint_int_get_yaw(msg);
global_position_setpoint_int->coordinate_frame = mavlink_msg_global_position_setpoint_int_get_coordinate_frame(msg);
#else
memcpy(global_position_setpoint_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_global_vision_position_estimate.h
+309
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@@ -0,0 +1,309 @@
// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
typedef struct __mavlink_global_vision_position_estimate_t
{
uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
float x; ///< Global X position
float y; ///< Global Y position
float z; ///< Global Z position
float roll; ///< Roll angle in rad
float pitch; ///< Pitch angle in rad
float yaw; ///< Yaw angle in rad
} mavlink_global_vision_position_estimate_t;
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
#define MAVLINK_MSG_ID_101_LEN 32
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
#define MAVLINK_MSG_ID_101_CRC 102
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
"GLOBAL_VISION_POSITION_ESTIMATE", \
7, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
} \
}
/**
* @brief Pack a global_vision_position_estimate 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, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
_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, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
mavlink_global_vision_position_estimate_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
}
/**
* @brief Pack a global_vision_position_estimate 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 usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_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 roll,float pitch,float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
_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, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
mavlink_global_vision_position_estimate_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
}
/**
* @brief Encode a global_vision_position_estimate 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 global_vision_position_estimate C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
}
/**
* @brief Encode a global_vision_position_estimate 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 global_vision_position_estimate C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
}
/**
* @brief Send a global_vision_position_estimate message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
* @param x Global X position
* @param y Global Y position
* @param z Global Z position
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
_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, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
#else
mavlink_global_vision_position_estimate_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
#endif
}
#endif
// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
/**
* @brief Get field usec from global_vision_position_estimate message
*
* @return Timestamp (microseconds, synced to UNIX time or since system boot)
*/
static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field x from global_vision_position_estimate message
*
* @return Global X position
*/
static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field y from global_vision_position_estimate message
*
* @return Global Y position
*/
static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field z from global_vision_position_estimate message
*
* @return Global Z position
*/
static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field roll from global_vision_position_estimate message
*
* @return Roll angle in rad
*/
static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field pitch from global_vision_position_estimate message
*
* @return Pitch angle in rad
*/
static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field yaw from global_vision_position_estimate message
*
* @return Yaw angle in rad
*/
static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Decode a global_vision_position_estimate message into a struct
*
* @param msg The message to decode
* @param global_vision_position_estimate C-struct to decode the message contents into
*/
static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP
global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
#else
memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_global_origin.h
+221
View File
@@ -0,0 +1,221 @@
// MESSAGE GPS_GLOBAL_ORIGIN PACKING
#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
typedef struct __mavlink_gps_global_origin_t
{
int32_t latitude; ///< Latitude (WGS84), in degrees * 1E7
int32_t longitude; ///< Longitude (WGS84), in degrees * 1E7
int32_t altitude; ///< Altitude (WGS84), in meters * 1000 (positive for up)
} mavlink_gps_global_origin_t;
#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
#define MAVLINK_MSG_ID_49_LEN 12
#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
#define MAVLINK_MSG_ID_49_CRC 39
#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
"GPS_GLOBAL_ORIGIN", \
3, \
{ { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
} \
}
/**
* @brief Pack a gps_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 latitude Latitude (WGS84), in degrees * 1E7
* @param longitude Longitude (WGS84), in degrees * 1E7
* @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_global_origin_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[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#else
mavlink_gps_global_origin_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
}
/**
* @brief Pack a gps_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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param latitude Latitude (WGS84), in degrees * 1E7
* @param longitude Longitude (WGS84), in degrees * 1E7
* @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_gps_global_origin_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[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#else
mavlink_gps_global_origin_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
}
/**
* @brief Encode a gps_global_origin 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 gps_global_origin C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
{
return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
}
/**
* @brief Encode a gps_global_origin 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 gps_global_origin C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
{
return mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, chan, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
}
/**
* @brief Send a gps_global_origin message
* @param chan MAVLink channel to send the message
*
* @param latitude Latitude (WGS84), in degrees * 1E7
* @param longitude Longitude (WGS84), in degrees * 1E7
* @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
_mav_put_int32_t(buf, 0, latitude);
_mav_put_int32_t(buf, 4, longitude);
_mav_put_int32_t(buf, 8, altitude);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
#else
mavlink_gps_global_origin_t packet;
packet.latitude = latitude;
packet.longitude = longitude;
packet.altitude = altitude;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
#endif
}
#endif
// MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
/**
* @brief Get field latitude from gps_global_origin message
*
* @return Latitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 0);
}
/**
* @brief Get field longitude from gps_global_origin message
*
* @return Longitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 4);
}
/**
* @brief Get field altitude from gps_global_origin message
*
* @return Altitude (WGS84), in meters * 1000 (positive for up)
*/
static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Decode a gps_global_origin message into a struct
*
* @param msg The message to decode
* @param gps_global_origin C-struct to decode the message contents into
*/
static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
{
#if MAVLINK_NEED_BYTE_SWAP
gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
#else
memcpy(gps_global_origin, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
#endif
}
radio/src/GCS_MAVLink/include_v1.0/common/mavlink_msg_gps_raw_int.h
+375
View File
@@ -0,0 +1,375 @@
// MESSAGE GPS_RAW_INT PACKING
#define MAVLINK_MSG_ID_GPS_RAW_INT 24
typedef struct __mavlink_gps_raw_int_t
{
uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
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.
uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
} mavlink_gps_raw_int_t;
#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30
#define MAVLINK_MSG_ID_24_LEN 30
#define MAVLINK_MSG_ID_GPS_RAW_INT_CRC 24
#define MAVLINK_MSG_ID_24_CRC 24
#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
"GPS_RAW_INT", \
10, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \
{ "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \
{ "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \
{ "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \
{ "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \
{ "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
{ "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \
} \
}
/**
* @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 time_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 (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @param satellites_visible Number of satellites visible. If unknown, set to 255
* @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 time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lon);
_mav_put_int32_t(buf, 16, alt);
_mav_put_uint16_t(buf, 20, eph);
_mav_put_uint16_t(buf, 22, epv);
_mav_put_uint16_t(buf, 24, vel);
_mav_put_uint16_t(buf, 26, cog);
_mav_put_uint8_t(buf, 28, fix_type);
_mav_put_uint8_t(buf, 29, satellites_visible);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#else
mavlink_gps_raw_int_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.vel = vel;
packet.cog = cog;
packet.fix_type = fix_type;
packet.satellites_visible = satellites_visible;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
}
/**
* @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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param time_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 (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @param satellites_visible Number of satellites visible. If unknown, set to 255
* @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 time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lon);
_mav_put_int32_t(buf, 16, alt);
_mav_put_uint16_t(buf, 20, eph);
_mav_put_uint16_t(buf, 22, epv);
_mav_put_uint16_t(buf, 24, vel);
_mav_put_uint16_t(buf, 26, cog);
_mav_put_uint8_t(buf, 28, fix_type);
_mav_put_uint8_t(buf, 29, satellites_visible);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#else
mavlink_gps_raw_int_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.vel = vel;
packet.cog = cog;
packet.fix_type = fix_type;
packet.satellites_visible = satellites_visible;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
}
/**
* @brief Encode a gps_raw_int 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 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->time_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->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
}
/**
* @brief Encode a gps_raw_int 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 gps_raw_int C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
{
return mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, chan, msg, gps_raw_int->time_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->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
}
/**
* @brief Send a gps_raw_int message
* @param chan MAVLink channel to send the message
*
* @param time_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 (WGS84), in degrees * 1E7
* @param lon Longitude (WGS84), in degrees * 1E7
* @param alt Altitude (WGS84), in meters * 1000 (positive for up)
* @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
* @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
* @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
* @param satellites_visible Number of satellites visible. If unknown, set to 255
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int32_t(buf, 8, lat);
_mav_put_int32_t(buf, 12, lon);
_mav_put_int32_t(buf, 16, alt);
_mav_put_uint16_t(buf, 20, eph);
_mav_put_uint16_t(buf, 22, epv);
_mav_put_uint16_t(buf, 24, vel);
_mav_put_uint16_t(buf, 26, cog);
_mav_put_uint8_t(buf, 28, fix_type);
_mav_put_uint8_t(buf, 29, satellites_visible);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
#else
mavlink_gps_raw_int_t packet;
packet.time_usec = time_usec;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.eph = eph;
packet.epv = epv;
packet.vel = vel;
packet.cog = cog;
packet.fix_type = fix_type;
packet.satellites_visible = satellites_visible;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
#endif
}
#endif
// MESSAGE GPS_RAW_INT UNPACKING
/**
* @brief Get field time_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_time_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, 28);
}
/**
* @brief Get field lat from gps_raw_int message
*
* @return Latitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 8);
}
/**
* @brief Get field lon from gps_raw_int message
*
* @return Longitude (WGS84), in degrees * 1E7
*/
static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 12);
}
/**
* @brief Get field alt from gps_raw_int message
*
* @return Altitude (WGS84), in meters * 1000 (positive for up)
*/
static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 16);
}
/**
* @brief Get field eph from gps_raw_int message
*
* @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
*/
static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 20);
}
/**
* @brief Get field epv from gps_raw_int message
*
* @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
*/
static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 22);
}
/**
* @brief Get field vel from gps_raw_int message
*
* @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
*/
static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 24);
}
/**
* @brief Get field cog from gps_raw_int message
*
* @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
*/
static inline uint16_t mavlink_msg_gps_raw_int_get_cog(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 26);
}
/**
* @brief Get field satellites_visible from gps_raw_int message
*
* @return Number of satellites visible. If unknown, set to 255
*/
static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 29);
}
/**
* @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->time_usec = mavlink_msg_gps_raw_int_get_time_usec(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->vel = mavlink_msg_gps_raw_int_get_vel(msg);
gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg);
gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
#else
memcpy(gps_raw_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
#endif
}

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