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/pixhawk/mavlink_msg_data_transmission_handshake.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 DATA_TRANSMISSION_HANDSHAKE PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 170
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_data_transmission_handshake_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 8 uint32_t size; ///< total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 9 uint8_t packets; ///< number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 10 uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 11 uint8_t jpg_quality; ///< JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 12
shimniok 0:826c6171fc1b 13 } mavlink_data_transmission_handshake_t;
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17 /**
shimniok 0:826c6171fc1b 18 * @brief Pack a data_transmission_handshake message
shimniok 0:826c6171fc1b 19 * @param system_id ID of this system
shimniok 0:826c6171fc1b 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 21 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 22 *
shimniok 0:826c6171fc1b 23 * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 24 * @param size total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 25 * @param packets number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 26 * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 27 * @param jpg_quality JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 28 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 29 */
shimniok 0:826c6171fc1b 30 static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
shimniok 0:826c6171fc1b 31 {
shimniok 0:826c6171fc1b 32 uint16_t i = 0;
shimniok 0:826c6171fc1b 33 msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
shimniok 0:826c6171fc1b 34
shimniok 0:826c6171fc1b 35 i += put_uint8_t_by_index(type, i, msg->payload); // type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 36 i += put_uint32_t_by_index(size, i, msg->payload); // total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 37 i += put_uint8_t_by_index(packets, i, msg->payload); // number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 38 i += put_uint8_t_by_index(payload, i, msg->payload); // payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 39 i += put_uint8_t_by_index(jpg_quality, i, msg->payload); // JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 40
shimniok 0:826c6171fc1b 41 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 42 }
shimniok 0:826c6171fc1b 43
shimniok 0:826c6171fc1b 44 /**
shimniok 0:826c6171fc1b 45 * @brief Pack a data_transmission_handshake message
shimniok 0:826c6171fc1b 46 * @param system_id ID of this system
shimniok 0:826c6171fc1b 47 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 48 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 49 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 50 * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 51 * @param size total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 52 * @param packets number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 53 * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 54 * @param jpg_quality JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 55 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 56 */
shimniok 0:826c6171fc1b 57 static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
shimniok 0:826c6171fc1b 58 {
shimniok 0:826c6171fc1b 59 uint16_t i = 0;
shimniok 0:826c6171fc1b 60 msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
shimniok 0:826c6171fc1b 61
shimniok 0:826c6171fc1b 62 i += put_uint8_t_by_index(type, i, msg->payload); // type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 63 i += put_uint32_t_by_index(size, i, msg->payload); // total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 64 i += put_uint8_t_by_index(packets, i, msg->payload); // number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 65 i += put_uint8_t_by_index(payload, i, msg->payload); // payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 66 i += put_uint8_t_by_index(jpg_quality, i, msg->payload); // JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 67
shimniok 0:826c6171fc1b 68 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 69 }
shimniok 0:826c6171fc1b 70
shimniok 0:826c6171fc1b 71 /**
shimniok 0:826c6171fc1b 72 * @brief Encode a data_transmission_handshake struct into a message
shimniok 0:826c6171fc1b 73 *
shimniok 0:826c6171fc1b 74 * @param system_id ID of this system
shimniok 0:826c6171fc1b 75 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 76 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 77 * @param data_transmission_handshake C-struct to read the message contents from
shimniok 0:826c6171fc1b 78 */
shimniok 0:826c6171fc1b 79 static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake)
shimniok 0:826c6171fc1b 80 {
shimniok 0:826c6171fc1b 81 return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality);
shimniok 0:826c6171fc1b 82 }
shimniok 0:826c6171fc1b 83
shimniok 0:826c6171fc1b 84 /**
shimniok 0:826c6171fc1b 85 * @brief Send a data_transmission_handshake message
shimniok 0:826c6171fc1b 86 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 87 *
shimniok 0:826c6171fc1b 88 * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 89 * @param size total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 90 * @param packets number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 91 * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 92 * @param jpg_quality JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 93 */
shimniok 0:826c6171fc1b 94 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 95
shimniok 0:826c6171fc1b 96 static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
shimniok 0:826c6171fc1b 97 {
shimniok 0:826c6171fc1b 98 mavlink_message_t msg;
shimniok 0:826c6171fc1b 99 mavlink_msg_data_transmission_handshake_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, size, packets, payload, jpg_quality);
shimniok 0:826c6171fc1b 100 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 101 }
shimniok 0:826c6171fc1b 102
shimniok 0:826c6171fc1b 103 #endif
shimniok 0:826c6171fc1b 104 // MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING
shimniok 0:826c6171fc1b 105
shimniok 0:826c6171fc1b 106 /**
shimniok 0:826c6171fc1b 107 * @brief Get field type from data_transmission_handshake message
shimniok 0:826c6171fc1b 108 *
shimniok 0:826c6171fc1b 109 * @return type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:826c6171fc1b 110 */
shimniok 0:826c6171fc1b 111 static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 112 {
shimniok 0:826c6171fc1b 113 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 114 }
shimniok 0:826c6171fc1b 115
shimniok 0:826c6171fc1b 116 /**
shimniok 0:826c6171fc1b 117 * @brief Get field size from data_transmission_handshake message
shimniok 0:826c6171fc1b 118 *
shimniok 0:826c6171fc1b 119 * @return total data size in bytes (set on ACK only)
shimniok 0:826c6171fc1b 120 */
shimniok 0:826c6171fc1b 121 static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 122 {
shimniok 0:826c6171fc1b 123 generic_32bit r;
shimniok 0:826c6171fc1b 124 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 125 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:826c6171fc1b 126 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:826c6171fc1b 127 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:826c6171fc1b 128 return (uint32_t)r.i;
shimniok 0:826c6171fc1b 129 }
shimniok 0:826c6171fc1b 130
shimniok 0:826c6171fc1b 131 /**
shimniok 0:826c6171fc1b 132 * @brief Get field packets from data_transmission_handshake message
shimniok 0:826c6171fc1b 133 *
shimniok 0:826c6171fc1b 134 * @return number of packets beeing sent (set on ACK only)
shimniok 0:826c6171fc1b 135 */
shimniok 0:826c6171fc1b 136 static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 137 {
shimniok 0:826c6171fc1b 138 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t))[0];
shimniok 0:826c6171fc1b 139 }
shimniok 0:826c6171fc1b 140
shimniok 0:826c6171fc1b 141 /**
shimniok 0:826c6171fc1b 142 * @brief Get field payload from data_transmission_handshake message
shimniok 0:826c6171fc1b 143 *
shimniok 0:826c6171fc1b 144 * @return payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:826c6171fc1b 145 */
shimniok 0:826c6171fc1b 146 static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 147 {
shimniok 0:826c6171fc1b 148 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 149 }
shimniok 0:826c6171fc1b 150
shimniok 0:826c6171fc1b 151 /**
shimniok 0:826c6171fc1b 152 * @brief Get field jpg_quality from data_transmission_handshake message
shimniok 0:826c6171fc1b 153 *
shimniok 0:826c6171fc1b 154 * @return JPEG quality out of [1,100]
shimniok 0:826c6171fc1b 155 */
shimniok 0:826c6171fc1b 156 static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 157 {
shimniok 0:826c6171fc1b 158 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 159 }
shimniok 0:826c6171fc1b 160
shimniok 0:826c6171fc1b 161 /**
shimniok 0:826c6171fc1b 162 * @brief Decode a data_transmission_handshake message into a struct
shimniok 0:826c6171fc1b 163 *
shimniok 0:826c6171fc1b 164 * @param msg The message to decode
shimniok 0:826c6171fc1b 165 * @param data_transmission_handshake C-struct to decode the message contents into
shimniok 0:826c6171fc1b 166 */
shimniok 0:826c6171fc1b 167 static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_message_t* msg, mavlink_data_transmission_handshake_t* data_transmission_handshake)
shimniok 0:826c6171fc1b 168 {
shimniok 0:826c6171fc1b 169 data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg);
shimniok 0:826c6171fc1b 170 data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg);
shimniok 0:826c6171fc1b 171 data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg);
shimniok 0:826c6171fc1b 172 data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg);
shimniok 0:826c6171fc1b 173 data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg);
shimniok 0:826c6171fc1b 174 }