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/common/mavlink_msg_debug.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | // MESSAGE DEBUG PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_DEBUG 255 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_debug_t |
shimniok | 0:826c6171fc1b | 6 | { |
shimniok | 0:826c6171fc1b | 7 | uint8_t ind; ///< index of debug variable |
shimniok | 0:826c6171fc1b | 8 | float value; ///< DEBUG value |
shimniok | 0:826c6171fc1b | 9 | |
shimniok | 0:826c6171fc1b | 10 | } mavlink_debug_t; |
shimniok | 0:826c6171fc1b | 11 | |
shimniok | 0:826c6171fc1b | 12 | |
shimniok | 0:826c6171fc1b | 13 | |
shimniok | 0:826c6171fc1b | 14 | /** |
shimniok | 0:826c6171fc1b | 15 | * @brief Pack a debug message |
shimniok | 0:826c6171fc1b | 16 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 17 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 18 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 19 | * |
shimniok | 0:826c6171fc1b | 20 | * @param ind index of debug variable |
shimniok | 0:826c6171fc1b | 21 | * @param value DEBUG value |
shimniok | 0:826c6171fc1b | 22 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 23 | */ |
shimniok | 0:826c6171fc1b | 24 | static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value) |
shimniok | 0:826c6171fc1b | 25 | { |
shimniok | 0:826c6171fc1b | 26 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 27 | msg->msgid = MAVLINK_MSG_ID_DEBUG; |
shimniok | 0:826c6171fc1b | 28 | |
shimniok | 0:826c6171fc1b | 29 | i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable |
shimniok | 0:826c6171fc1b | 30 | i += put_float_by_index(value, i, msg->payload); // DEBUG value |
shimniok | 0:826c6171fc1b | 31 | |
shimniok | 0:826c6171fc1b | 32 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 33 | } |
shimniok | 0:826c6171fc1b | 34 | |
shimniok | 0:826c6171fc1b | 35 | /** |
shimniok | 0:826c6171fc1b | 36 | * @brief Pack a debug message |
shimniok | 0:826c6171fc1b | 37 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 38 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 39 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 40 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 41 | * @param ind index of debug variable |
shimniok | 0:826c6171fc1b | 42 | * @param value DEBUG value |
shimniok | 0:826c6171fc1b | 43 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 44 | */ |
shimniok | 0:826c6171fc1b | 45 | static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value) |
shimniok | 0:826c6171fc1b | 46 | { |
shimniok | 0:826c6171fc1b | 47 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 48 | msg->msgid = MAVLINK_MSG_ID_DEBUG; |
shimniok | 0:826c6171fc1b | 49 | |
shimniok | 0:826c6171fc1b | 50 | i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable |
shimniok | 0:826c6171fc1b | 51 | i += put_float_by_index(value, i, msg->payload); // DEBUG value |
shimniok | 0:826c6171fc1b | 52 | |
shimniok | 0:826c6171fc1b | 53 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 54 | } |
shimniok | 0:826c6171fc1b | 55 | |
shimniok | 0:826c6171fc1b | 56 | /** |
shimniok | 0:826c6171fc1b | 57 | * @brief Encode a debug struct into a message |
shimniok | 0:826c6171fc1b | 58 | * |
shimniok | 0:826c6171fc1b | 59 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 60 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 61 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 62 | * @param debug C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 63 | */ |
shimniok | 0:826c6171fc1b | 64 | 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) |
shimniok | 0:826c6171fc1b | 65 | { |
shimniok | 0:826c6171fc1b | 66 | return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value); |
shimniok | 0:826c6171fc1b | 67 | } |
shimniok | 0:826c6171fc1b | 68 | |
shimniok | 0:826c6171fc1b | 69 | /** |
shimniok | 0:826c6171fc1b | 70 | * @brief Send a debug message |
shimniok | 0:826c6171fc1b | 71 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 72 | * |
shimniok | 0:826c6171fc1b | 73 | * @param ind index of debug variable |
shimniok | 0:826c6171fc1b | 74 | * @param value DEBUG value |
shimniok | 0:826c6171fc1b | 75 | */ |
shimniok | 0:826c6171fc1b | 76 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 77 | |
shimniok | 0:826c6171fc1b | 78 | static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value) |
shimniok | 0:826c6171fc1b | 79 | { |
shimniok | 0:826c6171fc1b | 80 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 81 | mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value); |
shimniok | 0:826c6171fc1b | 82 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 83 | } |
shimniok | 0:826c6171fc1b | 84 | |
shimniok | 0:826c6171fc1b | 85 | #endif |
shimniok | 0:826c6171fc1b | 86 | // MESSAGE DEBUG UNPACKING |
shimniok | 0:826c6171fc1b | 87 | |
shimniok | 0:826c6171fc1b | 88 | /** |
shimniok | 0:826c6171fc1b | 89 | * @brief Get field ind from debug message |
shimniok | 0:826c6171fc1b | 90 | * |
shimniok | 0:826c6171fc1b | 91 | * @return index of debug variable |
shimniok | 0:826c6171fc1b | 92 | */ |
shimniok | 0:826c6171fc1b | 93 | static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 94 | { |
shimniok | 0:826c6171fc1b | 95 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:826c6171fc1b | 96 | } |
shimniok | 0:826c6171fc1b | 97 | |
shimniok | 0:826c6171fc1b | 98 | /** |
shimniok | 0:826c6171fc1b | 99 | * @brief Get field value from debug message |
shimniok | 0:826c6171fc1b | 100 | * |
shimniok | 0:826c6171fc1b | 101 | * @return DEBUG value |
shimniok | 0:826c6171fc1b | 102 | */ |
shimniok | 0:826c6171fc1b | 103 | static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 104 | { |
shimniok | 0:826c6171fc1b | 105 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 106 | r.b[3] = (msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:826c6171fc1b | 107 | r.b[2] = (msg->payload+sizeof(uint8_t))[1]; |
shimniok | 0:826c6171fc1b | 108 | r.b[1] = (msg->payload+sizeof(uint8_t))[2]; |
shimniok | 0:826c6171fc1b | 109 | r.b[0] = (msg->payload+sizeof(uint8_t))[3]; |
shimniok | 0:826c6171fc1b | 110 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 111 | } |
shimniok | 0:826c6171fc1b | 112 | |
shimniok | 0:826c6171fc1b | 113 | /** |
shimniok | 0:826c6171fc1b | 114 | * @brief Decode a debug message into a struct |
shimniok | 0:826c6171fc1b | 115 | * |
shimniok | 0:826c6171fc1b | 116 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 117 | * @param debug C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 118 | */ |
shimniok | 0:826c6171fc1b | 119 | static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) |
shimniok | 0:826c6171fc1b | 120 | { |
shimniok | 0:826c6171fc1b | 121 | debug->ind = mavlink_msg_debug_get_ind(msg); |
shimniok | 0:826c6171fc1b | 122 | debug->value = mavlink_msg_debug_get_value(msg); |
shimniok | 0:826c6171fc1b | 123 | } |