Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/minimal/mavlink_msg_heartbeat.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE HEARTBEAT PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_HEARTBEAT 0
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_heartbeat_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 8 uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 9 uint8_t mavlink_version; ///< MAVLink version
shimniok 0:826c6171fc1b 10
shimniok 0:826c6171fc1b 11 } mavlink_heartbeat_t;
shimniok 0:826c6171fc1b 12
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15 /**
shimniok 0:826c6171fc1b 16 * @brief Pack a heartbeat message
shimniok 0:826c6171fc1b 17 * @param system_id ID of this system
shimniok 0:826c6171fc1b 18 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 19 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 20 *
shimniok 0:826c6171fc1b 21 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 22 * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 23 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 24 */
shimniok 0:826c6171fc1b 25 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
shimniok 0:826c6171fc1b 26 {
shimniok 0:826c6171fc1b 27 uint16_t i = 0;
shimniok 0:826c6171fc1b 28 msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
shimniok 0:826c6171fc1b 29
shimniok 0:826c6171fc1b 30 i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 31 i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 32 i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
shimniok 0:826c6171fc1b 33
shimniok 0:826c6171fc1b 34 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 35 }
shimniok 0:826c6171fc1b 36
shimniok 0:826c6171fc1b 37 /**
shimniok 0:826c6171fc1b 38 * @brief Pack a heartbeat message
shimniok 0:826c6171fc1b 39 * @param system_id ID of this system
shimniok 0:826c6171fc1b 40 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 41 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 42 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 43 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 44 * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 45 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 46 */
shimniok 0:826c6171fc1b 47 static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
shimniok 0:826c6171fc1b 48 {
shimniok 0:826c6171fc1b 49 uint16_t i = 0;
shimniok 0:826c6171fc1b 50 msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
shimniok 0:826c6171fc1b 51
shimniok 0:826c6171fc1b 52 i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 53 i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 54 i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
shimniok 0:826c6171fc1b 55
shimniok 0:826c6171fc1b 56 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 57 }
shimniok 0:826c6171fc1b 58
shimniok 0:826c6171fc1b 59 /**
shimniok 0:826c6171fc1b 60 * @brief Encode a heartbeat struct into a message
shimniok 0:826c6171fc1b 61 *
shimniok 0:826c6171fc1b 62 * @param system_id ID of this system
shimniok 0:826c6171fc1b 63 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 64 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 65 * @param heartbeat C-struct to read the message contents from
shimniok 0:826c6171fc1b 66 */
shimniok 0:826c6171fc1b 67 static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
shimniok 0:826c6171fc1b 68 {
shimniok 0:826c6171fc1b 69 return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
shimniok 0:826c6171fc1b 70 }
shimniok 0:826c6171fc1b 71
shimniok 0:826c6171fc1b 72 /**
shimniok 0:826c6171fc1b 73 * @brief Send a heartbeat message
shimniok 0:826c6171fc1b 74 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 75 *
shimniok 0:826c6171fc1b 76 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 77 * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 78 */
shimniok 0:826c6171fc1b 79 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 80
shimniok 0:826c6171fc1b 81 static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
shimniok 0:826c6171fc1b 82 {
shimniok 0:826c6171fc1b 83 mavlink_message_t msg;
shimniok 0:826c6171fc1b 84 mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
shimniok 0:826c6171fc1b 85 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 86 }
shimniok 0:826c6171fc1b 87
shimniok 0:826c6171fc1b 88 #endif
shimniok 0:826c6171fc1b 89 // MESSAGE HEARTBEAT UNPACKING
shimniok 0:826c6171fc1b 90
shimniok 0:826c6171fc1b 91 /**
shimniok 0:826c6171fc1b 92 * @brief Get field type from heartbeat message
shimniok 0:826c6171fc1b 93 *
shimniok 0:826c6171fc1b 94 * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:826c6171fc1b 95 */
shimniok 0:826c6171fc1b 96 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 97 {
shimniok 0:826c6171fc1b 98 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 99 }
shimniok 0:826c6171fc1b 100
shimniok 0:826c6171fc1b 101 /**
shimniok 0:826c6171fc1b 102 * @brief Get field autopilot from heartbeat message
shimniok 0:826c6171fc1b 103 *
shimniok 0:826c6171fc1b 104 * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:826c6171fc1b 105 */
shimniok 0:826c6171fc1b 106 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 107 {
shimniok 0:826c6171fc1b 108 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 109 }
shimniok 0:826c6171fc1b 110
shimniok 0:826c6171fc1b 111 /**
shimniok 0:826c6171fc1b 112 * @brief Get field mavlink_version from heartbeat message
shimniok 0:826c6171fc1b 113 *
shimniok 0:826c6171fc1b 114 * @return MAVLink version
shimniok 0:826c6171fc1b 115 */
shimniok 0:826c6171fc1b 116 static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 117 {
shimniok 0:826c6171fc1b 118 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 119 }
shimniok 0:826c6171fc1b 120
shimniok 0:826c6171fc1b 121 /**
shimniok 0:826c6171fc1b 122 * @brief Decode a heartbeat message into a struct
shimniok 0:826c6171fc1b 123 *
shimniok 0:826c6171fc1b 124 * @param msg The message to decode
shimniok 0:826c6171fc1b 125 * @param heartbeat C-struct to decode the message contents into
shimniok 0:826c6171fc1b 126 */
shimniok 0:826c6171fc1b 127 static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
shimniok 0:826c6171fc1b 128 {
shimniok 0:826c6171fc1b 129 heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
shimniok 0:826c6171fc1b 130 heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
shimniok 0:826c6171fc1b 131 heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
shimniok 0:826c6171fc1b 132 }