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protocol.h@1:7e9af9a921f7, 2017-01-20 (annotated)

Committer:
jdawkins
Date:
Fri Jan 20 13:27:11 2017 +0000
Revision:
1:7e9af9a921f7
Parent:
0:bb2cacd02294 
Fixed Asin error in mavlink_conversions.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:bb2cacd02294 1 #ifndef _MAVLINK_PROTOCOL_H_
jdawkins 0:bb2cacd02294 2 #define _MAVLINK_PROTOCOL_H_
jdawkins 0:bb2cacd02294 3
jdawkins 0:bb2cacd02294 4 #include "string.h"
jdawkins 0:bb2cacd02294 5 #include "mavlink_types.h"
jdawkins 0:bb2cacd02294 6
jdawkins 0:bb2cacd02294 7 /*
jdawkins 0:bb2cacd02294 8 If you want MAVLink on a system that is native big-endian,
jdawkins 0:bb2cacd02294 9 you need to define NATIVE_BIG_ENDIAN
jdawkins 0:bb2cacd02294 10 */
jdawkins 0:bb2cacd02294 11 #ifdef NATIVE_BIG_ENDIAN
jdawkins 0:bb2cacd02294 12 # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
jdawkins 0:bb2cacd02294 13 #else
jdawkins 0:bb2cacd02294 14 # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
jdawkins 0:bb2cacd02294 15 #endif
jdawkins 0:bb2cacd02294 16
jdawkins 0:bb2cacd02294 17 #ifndef MAVLINK_STACK_BUFFER
jdawkins 0:bb2cacd02294 18 #define MAVLINK_STACK_BUFFER 0
jdawkins 0:bb2cacd02294 19 #endif
jdawkins 0:bb2cacd02294 20
jdawkins 0:bb2cacd02294 21 #ifndef MAVLINK_AVOID_GCC_STACK_BUG
jdawkins 0:bb2cacd02294 22 # define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
jdawkins 0:bb2cacd02294 23 #endif
jdawkins 0:bb2cacd02294 24
jdawkins 0:bb2cacd02294 25 #ifndef MAVLINK_ASSERT
jdawkins 0:bb2cacd02294 26 #define MAVLINK_ASSERT(x)
jdawkins 0:bb2cacd02294 27 #endif
jdawkins 0:bb2cacd02294 28
jdawkins 0:bb2cacd02294 29 #ifndef MAVLINK_START_UART_SEND
jdawkins 0:bb2cacd02294 30 #define MAVLINK_START_UART_SEND(chan, length)
jdawkins 0:bb2cacd02294 31 #endif
jdawkins 0:bb2cacd02294 32
jdawkins 0:bb2cacd02294 33 #ifndef MAVLINK_END_UART_SEND
jdawkins 0:bb2cacd02294 34 #define MAVLINK_END_UART_SEND(chan, length)
jdawkins 0:bb2cacd02294 35 #endif
jdawkins 0:bb2cacd02294 36
jdawkins 0:bb2cacd02294 37 /* option to provide alternative implementation of mavlink_helpers.h */
jdawkins 0:bb2cacd02294 38 #ifdef MAVLINK_SEPARATE_HELPERS
jdawkins 0:bb2cacd02294 39
jdawkins 0:bb2cacd02294 40 #define MAVLINK_HELPER
jdawkins 0:bb2cacd02294 41
jdawkins 0:bb2cacd02294 42 /* decls in sync with those in mavlink_helpers.h */
jdawkins 0:bb2cacd02294 43 #ifndef MAVLINK_GET_CHANNEL_STATUS
jdawkins 0:bb2cacd02294 44 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
jdawkins 0:bb2cacd02294 45 #endif
jdawkins 0:bb2cacd02294 46 MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
jdawkins 0:bb2cacd02294 47 #if MAVLINK_CRC_EXTRA
jdawkins 0:bb2cacd02294 48 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
jdawkins 0:bb2cacd02294 49 uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);
jdawkins 0:bb2cacd02294 50 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
jdawkins 0:bb2cacd02294 51 uint8_t min_length, uint8_t length, uint8_t crc_extra);
jdawkins 0:bb2cacd02294 52 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
jdawkins 0:bb2cacd02294 53 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet,
jdawkins 0:bb2cacd02294 54 uint8_t min_length, uint8_t length, uint8_t crc_extra);
jdawkins 0:bb2cacd02294 55 #endif
jdawkins 0:bb2cacd02294 56 #else
jdawkins 0:bb2cacd02294 57 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
jdawkins 0:bb2cacd02294 58 uint8_t chan, uint8_t length);
jdawkins 0:bb2cacd02294 59 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
jdawkins 0:bb2cacd02294 60 uint8_t length);
jdawkins 0:bb2cacd02294 61 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
jdawkins 0:bb2cacd02294 62 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
jdawkins 0:bb2cacd02294 63 #endif
jdawkins 0:bb2cacd02294 64 #endif // MAVLINK_CRC_EXTRA
jdawkins 0:bb2cacd02294 65 MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
jdawkins 0:bb2cacd02294 66 MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
jdawkins 0:bb2cacd02294 67 MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
jdawkins 0:bb2cacd02294 68 MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
jdawkins 0:bb2cacd02294 69 mavlink_status_t* status,
jdawkins 0:bb2cacd02294 70 uint8_t c,
jdawkins 0:bb2cacd02294 71 mavlink_message_t* r_message,
jdawkins 0:bb2cacd02294 72 mavlink_status_t* r_mavlink_status);
jdawkins 0:bb2cacd02294 73 MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
jdawkins 0:bb2cacd02294 74 MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
jdawkins 0:bb2cacd02294 75 MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
jdawkins 0:bb2cacd02294 76 uint8_t* r_bit_index, uint8_t* buffer);
jdawkins 0:bb2cacd02294 77 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
jdawkins 0:bb2cacd02294 78 MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
jdawkins 0:bb2cacd02294 79 MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
jdawkins 0:bb2cacd02294 80 #endif
jdawkins 0:bb2cacd02294 81
jdawkins 0:bb2cacd02294 82 #else
jdawkins 0:bb2cacd02294 83
jdawkins 0:bb2cacd02294 84 #define MAVLINK_HELPER static inline
jdawkins 0:bb2cacd02294 85 #include "mavlink_helpers.h"
jdawkins 0:bb2cacd02294 86
jdawkins 0:bb2cacd02294 87 #endif // MAVLINK_SEPARATE_HELPERS
jdawkins 0:bb2cacd02294 88
jdawkins 0:bb2cacd02294 89 /**
jdawkins 0:bb2cacd02294 90 * @brief Get the required buffer size for this message
jdawkins 0:bb2cacd02294 91 */
jdawkins 0:bb2cacd02294 92 static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 93 {
jdawkins 0:bb2cacd02294 94 return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
jdawkins 0:bb2cacd02294 95 }
jdawkins 0:bb2cacd02294 96
jdawkins 0:bb2cacd02294 97 #if MAVLINK_NEED_BYTE_SWAP
jdawkins 0:bb2cacd02294 98 static inline void byte_swap_2(char *dst, const char *src)
jdawkins 0:bb2cacd02294 99 {
jdawkins 0:bb2cacd02294 100 dst[0] = src[1];
jdawkins 0:bb2cacd02294 101 dst[1] = src[0];
jdawkins 0:bb2cacd02294 102 }
jdawkins 0:bb2cacd02294 103 static inline void byte_swap_4(char *dst, const char *src)
jdawkins 0:bb2cacd02294 104 {
jdawkins 0:bb2cacd02294 105 dst[0] = src[3];
jdawkins 0:bb2cacd02294 106 dst[1] = src[2];
jdawkins 0:bb2cacd02294 107 dst[2] = src[1];
jdawkins 0:bb2cacd02294 108 dst[3] = src[0];
jdawkins 0:bb2cacd02294 109 }
jdawkins 0:bb2cacd02294 110 static inline void byte_swap_8(char *dst, const char *src)
jdawkins 0:bb2cacd02294 111 {
jdawkins 0:bb2cacd02294 112 dst[0] = src[7];
jdawkins 0:bb2cacd02294 113 dst[1] = src[6];
jdawkins 0:bb2cacd02294 114 dst[2] = src[5];
jdawkins 0:bb2cacd02294 115 dst[3] = src[4];
jdawkins 0:bb2cacd02294 116 dst[4] = src[3];
jdawkins 0:bb2cacd02294 117 dst[5] = src[2];
jdawkins 0:bb2cacd02294 118 dst[6] = src[1];
jdawkins 0:bb2cacd02294 119 dst[7] = src[0];
jdawkins 0:bb2cacd02294 120 }
jdawkins 0:bb2cacd02294 121 #elif !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 122 static inline void byte_copy_2(char *dst, const char *src)
jdawkins 0:bb2cacd02294 123 {
jdawkins 0:bb2cacd02294 124 dst[0] = src[0];
jdawkins 0:bb2cacd02294 125 dst[1] = src[1];
jdawkins 0:bb2cacd02294 126 }
jdawkins 0:bb2cacd02294 127 static inline void byte_copy_4(char *dst, const char *src)
jdawkins 0:bb2cacd02294 128 {
jdawkins 0:bb2cacd02294 129 dst[0] = src[0];
jdawkins 0:bb2cacd02294 130 dst[1] = src[1];
jdawkins 0:bb2cacd02294 131 dst[2] = src[2];
jdawkins 0:bb2cacd02294 132 dst[3] = src[3];
jdawkins 0:bb2cacd02294 133 }
jdawkins 0:bb2cacd02294 134 static inline void byte_copy_8(char *dst, const char *src)
jdawkins 0:bb2cacd02294 135 {
jdawkins 0:bb2cacd02294 136 memcpy(dst, src, 8);
jdawkins 0:bb2cacd02294 137 }
jdawkins 0:bb2cacd02294 138 #endif
jdawkins 0:bb2cacd02294 139
jdawkins 0:bb2cacd02294 140 #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
jdawkins 0:bb2cacd02294 141 #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
jdawkins 0:bb2cacd02294 142 #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
jdawkins 0:bb2cacd02294 143
jdawkins 0:bb2cacd02294 144 #if MAVLINK_NEED_BYTE_SWAP
jdawkins 0:bb2cacd02294 145 #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 146 #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 147 #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 148 #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 149 #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 150 #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 151 #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 152 #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 153 #elif !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 154 #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 155 #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 156 #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 157 #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 158 #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 159 #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 160 #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 161 #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
jdawkins 0:bb2cacd02294 162 #else
jdawkins 0:bb2cacd02294 163 #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 164 #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 165 #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 166 #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 167 #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 168 #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 169 #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 170 #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
jdawkins 0:bb2cacd02294 171 #endif
jdawkins 0:bb2cacd02294 172
jdawkins 0:bb2cacd02294 173 /*
jdawkins 0:bb2cacd02294 174 like memcpy(), but if src is NULL, do a memset to zero
jdawkins 0:bb2cacd02294 175 */
jdawkins 0:bb2cacd02294 176 static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
jdawkins 0:bb2cacd02294 177 {
jdawkins 0:bb2cacd02294 178 if (src == NULL) {
jdawkins 0:bb2cacd02294 179 memset(dest, 0, n);
jdawkins 0:bb2cacd02294 180 } else {
jdawkins 0:bb2cacd02294 181 memcpy(dest, src, n);
jdawkins 0:bb2cacd02294 182 }
jdawkins 0:bb2cacd02294 183 }
jdawkins 0:bb2cacd02294 184
jdawkins 0:bb2cacd02294 185 /*
jdawkins 0:bb2cacd02294 186 * Place a char array into a buffer
jdawkins 0:bb2cacd02294 187 */
jdawkins 0:bb2cacd02294 188 static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
jdawkins 0:bb2cacd02294 189 {
jdawkins 0:bb2cacd02294 190 mav_array_memcpy(&buf[wire_offset], b, array_length);
jdawkins 0:bb2cacd02294 191
jdawkins 0:bb2cacd02294 192 }
jdawkins 0:bb2cacd02294 193
jdawkins 0:bb2cacd02294 194 /*
jdawkins 0:bb2cacd02294 195 * Place a uint8_t array into a buffer
jdawkins 0:bb2cacd02294 196 */
jdawkins 0:bb2cacd02294 197 static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
jdawkins 0:bb2cacd02294 198 {
jdawkins 0:bb2cacd02294 199 mav_array_memcpy(&buf[wire_offset], b, array_length);
jdawkins 0:bb2cacd02294 200
jdawkins 0:bb2cacd02294 201 }
jdawkins 0:bb2cacd02294 202
jdawkins 0:bb2cacd02294 203 /*
jdawkins 0:bb2cacd02294 204 * Place a int8_t array into a buffer
jdawkins 0:bb2cacd02294 205 */
jdawkins 0:bb2cacd02294 206 static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
jdawkins 0:bb2cacd02294 207 {
jdawkins 0:bb2cacd02294 208 mav_array_memcpy(&buf[wire_offset], b, array_length);
jdawkins 0:bb2cacd02294 209
jdawkins 0:bb2cacd02294 210 }
jdawkins 0:bb2cacd02294 211
jdawkins 0:bb2cacd02294 212 #if MAVLINK_NEED_BYTE_SWAP
jdawkins 0:bb2cacd02294 213 #define _MAV_PUT_ARRAY(TYPE, V) \
jdawkins 0:bb2cacd02294 214 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
jdawkins 0:bb2cacd02294 215 { \
jdawkins 0:bb2cacd02294 216 if (b == NULL) { \
jdawkins 0:bb2cacd02294 217 memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
jdawkins 0:bb2cacd02294 218 } else { \
jdawkins 0:bb2cacd02294 219 uint16_t i; \
jdawkins 0:bb2cacd02294 220 for (i=0; i<array_length; i++) { \
jdawkins 0:bb2cacd02294 221 _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
jdawkins 0:bb2cacd02294 222 } \
jdawkins 0:bb2cacd02294 223 } \
jdawkins 0:bb2cacd02294 224 }
jdawkins 0:bb2cacd02294 225 #else
jdawkins 0:bb2cacd02294 226 #define _MAV_PUT_ARRAY(TYPE, V) \
jdawkins 0:bb2cacd02294 227 static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
jdawkins 0:bb2cacd02294 228 { \
jdawkins 0:bb2cacd02294 229 mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
jdawkins 0:bb2cacd02294 230 }
jdawkins 0:bb2cacd02294 231 #endif
jdawkins 0:bb2cacd02294 232
jdawkins 0:bb2cacd02294 233 _MAV_PUT_ARRAY(uint16_t, u16)
jdawkins 0:bb2cacd02294 234 _MAV_PUT_ARRAY(uint32_t, u32)
jdawkins 0:bb2cacd02294 235 _MAV_PUT_ARRAY(uint64_t, u64)
jdawkins 0:bb2cacd02294 236 _MAV_PUT_ARRAY(int16_t, i16)
jdawkins 0:bb2cacd02294 237 _MAV_PUT_ARRAY(int32_t, i32)
jdawkins 0:bb2cacd02294 238 _MAV_PUT_ARRAY(int64_t, i64)
jdawkins 0:bb2cacd02294 239 _MAV_PUT_ARRAY(float, f)
jdawkins 0:bb2cacd02294 240 _MAV_PUT_ARRAY(double, d)
jdawkins 0:bb2cacd02294 241
jdawkins 0:bb2cacd02294 242 #define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
jdawkins 0:bb2cacd02294 243 #define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
jdawkins 0:bb2cacd02294 244 #define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
jdawkins 0:bb2cacd02294 245
jdawkins 0:bb2cacd02294 246 #if MAVLINK_NEED_BYTE_SWAP
jdawkins 0:bb2cacd02294 247 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
jdawkins 0:bb2cacd02294 248 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
jdawkins 0:bb2cacd02294 249 { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
jdawkins 0:bb2cacd02294 250
jdawkins 0:bb2cacd02294 251 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
jdawkins 0:bb2cacd02294 252 _MAV_MSG_RETURN_TYPE(int16_t, 2)
jdawkins 0:bb2cacd02294 253 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
jdawkins 0:bb2cacd02294 254 _MAV_MSG_RETURN_TYPE(int32_t, 4)
jdawkins 0:bb2cacd02294 255 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
jdawkins 0:bb2cacd02294 256 _MAV_MSG_RETURN_TYPE(int64_t, 8)
jdawkins 0:bb2cacd02294 257 _MAV_MSG_RETURN_TYPE(float, 4)
jdawkins 0:bb2cacd02294 258 _MAV_MSG_RETURN_TYPE(double, 8)
jdawkins 0:bb2cacd02294 259
jdawkins 0:bb2cacd02294 260 #elif !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 261 #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
jdawkins 0:bb2cacd02294 262 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
jdawkins 0:bb2cacd02294 263 { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
jdawkins 0:bb2cacd02294 264
jdawkins 0:bb2cacd02294 265 _MAV_MSG_RETURN_TYPE(uint16_t, 2)
jdawkins 0:bb2cacd02294 266 _MAV_MSG_RETURN_TYPE(int16_t, 2)
jdawkins 0:bb2cacd02294 267 _MAV_MSG_RETURN_TYPE(uint32_t, 4)
jdawkins 0:bb2cacd02294 268 _MAV_MSG_RETURN_TYPE(int32_t, 4)
jdawkins 0:bb2cacd02294 269 _MAV_MSG_RETURN_TYPE(uint64_t, 8)
jdawkins 0:bb2cacd02294 270 _MAV_MSG_RETURN_TYPE(int64_t, 8)
jdawkins 0:bb2cacd02294 271 _MAV_MSG_RETURN_TYPE(float, 4)
jdawkins 0:bb2cacd02294 272 _MAV_MSG_RETURN_TYPE(double, 8)
jdawkins 0:bb2cacd02294 273 #else // nicely aligned, no swap
jdawkins 0:bb2cacd02294 274 #define _MAV_MSG_RETURN_TYPE(TYPE) \
jdawkins 0:bb2cacd02294 275 static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
jdawkins 0:bb2cacd02294 276 { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
jdawkins 0:bb2cacd02294 277
jdawkins 0:bb2cacd02294 278 _MAV_MSG_RETURN_TYPE(uint16_t)
jdawkins 0:bb2cacd02294 279 _MAV_MSG_RETURN_TYPE(int16_t)
jdawkins 0:bb2cacd02294 280 _MAV_MSG_RETURN_TYPE(uint32_t)
jdawkins 0:bb2cacd02294 281 _MAV_MSG_RETURN_TYPE(int32_t)
jdawkins 0:bb2cacd02294 282 _MAV_MSG_RETURN_TYPE(uint64_t)
jdawkins 0:bb2cacd02294 283 _MAV_MSG_RETURN_TYPE(int64_t)
jdawkins 0:bb2cacd02294 284 _MAV_MSG_RETURN_TYPE(float)
jdawkins 0:bb2cacd02294 285 _MAV_MSG_RETURN_TYPE(double)
jdawkins 0:bb2cacd02294 286 #endif // MAVLINK_NEED_BYTE_SWAP
jdawkins 0:bb2cacd02294 287
jdawkins 0:bb2cacd02294 288 static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
jdawkins 0:bb2cacd02294 289 uint8_t array_length, uint8_t wire_offset)
jdawkins 0:bb2cacd02294 290 {
jdawkins 0:bb2cacd02294 291 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
jdawkins 0:bb2cacd02294 292 return array_length;
jdawkins 0:bb2cacd02294 293 }
jdawkins 0:bb2cacd02294 294
jdawkins 0:bb2cacd02294 295 static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
jdawkins 0:bb2cacd02294 296 uint8_t array_length, uint8_t wire_offset)
jdawkins 0:bb2cacd02294 297 {
jdawkins 0:bb2cacd02294 298 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
jdawkins 0:bb2cacd02294 299 return array_length;
jdawkins 0:bb2cacd02294 300 }
jdawkins 0:bb2cacd02294 301
jdawkins 0:bb2cacd02294 302 static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
jdawkins 0:bb2cacd02294 303 uint8_t array_length, uint8_t wire_offset)
jdawkins 0:bb2cacd02294 304 {
jdawkins 0:bb2cacd02294 305 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
jdawkins 0:bb2cacd02294 306 return array_length;
jdawkins 0:bb2cacd02294 307 }
jdawkins 0:bb2cacd02294 308
jdawkins 0:bb2cacd02294 309 #if MAVLINK_NEED_BYTE_SWAP
jdawkins 0:bb2cacd02294 310 #define _MAV_RETURN_ARRAY(TYPE, V) \
jdawkins 0:bb2cacd02294 311 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
jdawkins 0:bb2cacd02294 312 uint8_t array_length, uint8_t wire_offset) \
jdawkins 0:bb2cacd02294 313 { \
jdawkins 0:bb2cacd02294 314 uint16_t i; \
jdawkins 0:bb2cacd02294 315 for (i=0; i<array_length; i++) { \
jdawkins 0:bb2cacd02294 316 value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
jdawkins 0:bb2cacd02294 317 } \
jdawkins 0:bb2cacd02294 318 return array_length*sizeof(value[0]); \
jdawkins 0:bb2cacd02294 319 }
jdawkins 0:bb2cacd02294 320 #else
jdawkins 0:bb2cacd02294 321 #define _MAV_RETURN_ARRAY(TYPE, V) \
jdawkins 0:bb2cacd02294 322 static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
jdawkins 0:bb2cacd02294 323 uint8_t array_length, uint8_t wire_offset) \
jdawkins 0:bb2cacd02294 324 { \
jdawkins 0:bb2cacd02294 325 memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
jdawkins 0:bb2cacd02294 326 return array_length*sizeof(TYPE); \
jdawkins 0:bb2cacd02294 327 }
jdawkins 0:bb2cacd02294 328 #endif
jdawkins 0:bb2cacd02294 329
jdawkins 0:bb2cacd02294 330 _MAV_RETURN_ARRAY(uint16_t, u16)
jdawkins 0:bb2cacd02294 331 _MAV_RETURN_ARRAY(uint32_t, u32)
jdawkins 0:bb2cacd02294 332 _MAV_RETURN_ARRAY(uint64_t, u64)
jdawkins 0:bb2cacd02294 333 _MAV_RETURN_ARRAY(int16_t, i16)
jdawkins 0:bb2cacd02294 334 _MAV_RETURN_ARRAY(int32_t, i32)
jdawkins 0:bb2cacd02294 335 _MAV_RETURN_ARRAY(int64_t, i64)
jdawkins 0:bb2cacd02294 336 _MAV_RETURN_ARRAY(float, f)
jdawkins 0:bb2cacd02294 337 _MAV_RETURN_ARRAY(double, d)
jdawkins 0:bb2cacd02294 338
jdawkins 0:bb2cacd02294 339 #endif // _MAVLINK_PROTOCOL_H_
jdawkins 0:bb2cacd02294 340