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_vect.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_VECT PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_DEBUG_VECT 251 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_debug_vect_t |
shimniok | 0:826c6171fc1b | 6 | { |
shimniok | 0:826c6171fc1b | 7 | char name[10]; ///< Name |
shimniok | 0:826c6171fc1b | 8 | uint64_t usec; ///< Timestamp |
shimniok | 0:826c6171fc1b | 9 | float x; ///< x |
shimniok | 0:826c6171fc1b | 10 | float y; ///< y |
shimniok | 0:826c6171fc1b | 11 | float z; ///< z |
shimniok | 0:826c6171fc1b | 12 | |
shimniok | 0:826c6171fc1b | 13 | } mavlink_debug_vect_t; |
shimniok | 0:826c6171fc1b | 14 | |
shimniok | 0:826c6171fc1b | 15 | #define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10 |
shimniok | 0:826c6171fc1b | 16 | |
shimniok | 0:826c6171fc1b | 17 | |
shimniok | 0:826c6171fc1b | 18 | /** |
shimniok | 0:826c6171fc1b | 19 | * @brief Pack a debug_vect message |
shimniok | 0:826c6171fc1b | 20 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 21 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 22 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 23 | * |
shimniok | 0:826c6171fc1b | 24 | * @param name Name |
shimniok | 0:826c6171fc1b | 25 | * @param usec Timestamp |
shimniok | 0:826c6171fc1b | 26 | * @param x x |
shimniok | 0:826c6171fc1b | 27 | * @param y y |
shimniok | 0:826c6171fc1b | 28 | * @param z z |
shimniok | 0:826c6171fc1b | 29 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 30 | */ |
shimniok | 0:826c6171fc1b | 31 | 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 usec, float x, float y, float z) |
shimniok | 0:826c6171fc1b | 32 | { |
shimniok | 0:826c6171fc1b | 33 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 34 | msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; |
shimniok | 0:826c6171fc1b | 35 | |
shimniok | 0:826c6171fc1b | 36 | i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name |
shimniok | 0:826c6171fc1b | 37 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp |
shimniok | 0:826c6171fc1b | 38 | i += put_float_by_index(x, i, msg->payload); // x |
shimniok | 0:826c6171fc1b | 39 | i += put_float_by_index(y, i, msg->payload); // y |
shimniok | 0:826c6171fc1b | 40 | i += put_float_by_index(z, i, msg->payload); // z |
shimniok | 0:826c6171fc1b | 41 | |
shimniok | 0:826c6171fc1b | 42 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 43 | } |
shimniok | 0:826c6171fc1b | 44 | |
shimniok | 0:826c6171fc1b | 45 | /** |
shimniok | 0:826c6171fc1b | 46 | * @brief Pack a debug_vect message |
shimniok | 0:826c6171fc1b | 47 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 48 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 49 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 50 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 51 | * @param name Name |
shimniok | 0:826c6171fc1b | 52 | * @param usec Timestamp |
shimniok | 0:826c6171fc1b | 53 | * @param x x |
shimniok | 0:826c6171fc1b | 54 | * @param y y |
shimniok | 0:826c6171fc1b | 55 | * @param z z |
shimniok | 0:826c6171fc1b | 56 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 57 | */ |
shimniok | 0:826c6171fc1b | 58 | 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 usec, float x, float y, float z) |
shimniok | 0:826c6171fc1b | 59 | { |
shimniok | 0:826c6171fc1b | 60 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 61 | msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT; |
shimniok | 0:826c6171fc1b | 62 | |
shimniok | 0:826c6171fc1b | 63 | i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name |
shimniok | 0:826c6171fc1b | 64 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp |
shimniok | 0:826c6171fc1b | 65 | i += put_float_by_index(x, i, msg->payload); // x |
shimniok | 0:826c6171fc1b | 66 | i += put_float_by_index(y, i, msg->payload); // y |
shimniok | 0:826c6171fc1b | 67 | i += put_float_by_index(z, i, msg->payload); // z |
shimniok | 0:826c6171fc1b | 68 | |
shimniok | 0:826c6171fc1b | 69 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 70 | } |
shimniok | 0:826c6171fc1b | 71 | |
shimniok | 0:826c6171fc1b | 72 | /** |
shimniok | 0:826c6171fc1b | 73 | * @brief Encode a debug_vect struct into a message |
shimniok | 0:826c6171fc1b | 74 | * |
shimniok | 0:826c6171fc1b | 75 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 76 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 77 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 78 | * @param debug_vect C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 79 | */ |
shimniok | 0:826c6171fc1b | 80 | 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) |
shimniok | 0:826c6171fc1b | 81 | { |
shimniok | 0:826c6171fc1b | 82 | return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->usec, debug_vect->x, debug_vect->y, debug_vect->z); |
shimniok | 0:826c6171fc1b | 83 | } |
shimniok | 0:826c6171fc1b | 84 | |
shimniok | 0:826c6171fc1b | 85 | /** |
shimniok | 0:826c6171fc1b | 86 | * @brief Send a debug_vect message |
shimniok | 0:826c6171fc1b | 87 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 88 | * |
shimniok | 0:826c6171fc1b | 89 | * @param name Name |
shimniok | 0:826c6171fc1b | 90 | * @param usec Timestamp |
shimniok | 0:826c6171fc1b | 91 | * @param x x |
shimniok | 0:826c6171fc1b | 92 | * @param y y |
shimniok | 0:826c6171fc1b | 93 | * @param z z |
shimniok | 0:826c6171fc1b | 94 | */ |
shimniok | 0:826c6171fc1b | 95 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 96 | |
shimniok | 0:826c6171fc1b | 97 | static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char* name, uint64_t usec, float x, float y, float z) |
shimniok | 0:826c6171fc1b | 98 | { |
shimniok | 0:826c6171fc1b | 99 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 100 | mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z); |
shimniok | 0:826c6171fc1b | 101 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 102 | } |
shimniok | 0:826c6171fc1b | 103 | |
shimniok | 0:826c6171fc1b | 104 | #endif |
shimniok | 0:826c6171fc1b | 105 | // MESSAGE DEBUG_VECT UNPACKING |
shimniok | 0:826c6171fc1b | 106 | |
shimniok | 0:826c6171fc1b | 107 | /** |
shimniok | 0:826c6171fc1b | 108 | * @brief Get field name from debug_vect message |
shimniok | 0:826c6171fc1b | 109 | * |
shimniok | 0:826c6171fc1b | 110 | * @return Name |
shimniok | 0:826c6171fc1b | 111 | */ |
shimniok | 0:826c6171fc1b | 112 | static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char* r_data) |
shimniok | 0:826c6171fc1b | 113 | { |
shimniok | 0:826c6171fc1b | 114 | |
shimniok | 0:826c6171fc1b | 115 | memcpy(r_data, msg->payload, sizeof(char)*10); |
shimniok | 0:826c6171fc1b | 116 | return sizeof(char)*10; |
shimniok | 0:826c6171fc1b | 117 | } |
shimniok | 0:826c6171fc1b | 118 | |
shimniok | 0:826c6171fc1b | 119 | /** |
shimniok | 0:826c6171fc1b | 120 | * @brief Get field usec from debug_vect message |
shimniok | 0:826c6171fc1b | 121 | * |
shimniok | 0:826c6171fc1b | 122 | * @return Timestamp |
shimniok | 0:826c6171fc1b | 123 | */ |
shimniok | 0:826c6171fc1b | 124 | static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 125 | { |
shimniok | 0:826c6171fc1b | 126 | generic_64bit r; |
shimniok | 0:826c6171fc1b | 127 | r.b[7] = (msg->payload+sizeof(char)*10)[0]; |
shimniok | 0:826c6171fc1b | 128 | r.b[6] = (msg->payload+sizeof(char)*10)[1]; |
shimniok | 0:826c6171fc1b | 129 | r.b[5] = (msg->payload+sizeof(char)*10)[2]; |
shimniok | 0:826c6171fc1b | 130 | r.b[4] = (msg->payload+sizeof(char)*10)[3]; |
shimniok | 0:826c6171fc1b | 131 | r.b[3] = (msg->payload+sizeof(char)*10)[4]; |
shimniok | 0:826c6171fc1b | 132 | r.b[2] = (msg->payload+sizeof(char)*10)[5]; |
shimniok | 0:826c6171fc1b | 133 | r.b[1] = (msg->payload+sizeof(char)*10)[6]; |
shimniok | 0:826c6171fc1b | 134 | r.b[0] = (msg->payload+sizeof(char)*10)[7]; |
shimniok | 0:826c6171fc1b | 135 | return (uint64_t)r.ll; |
shimniok | 0:826c6171fc1b | 136 | } |
shimniok | 0:826c6171fc1b | 137 | |
shimniok | 0:826c6171fc1b | 138 | /** |
shimniok | 0:826c6171fc1b | 139 | * @brief Get field x from debug_vect message |
shimniok | 0:826c6171fc1b | 140 | * |
shimniok | 0:826c6171fc1b | 141 | * @return x |
shimniok | 0:826c6171fc1b | 142 | */ |
shimniok | 0:826c6171fc1b | 143 | static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 144 | { |
shimniok | 0:826c6171fc1b | 145 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 146 | r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[0]; |
shimniok | 0:826c6171fc1b | 147 | r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[1]; |
shimniok | 0:826c6171fc1b | 148 | r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[2]; |
shimniok | 0:826c6171fc1b | 149 | r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[3]; |
shimniok | 0:826c6171fc1b | 150 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 151 | } |
shimniok | 0:826c6171fc1b | 152 | |
shimniok | 0:826c6171fc1b | 153 | /** |
shimniok | 0:826c6171fc1b | 154 | * @brief Get field y from debug_vect message |
shimniok | 0:826c6171fc1b | 155 | * |
shimniok | 0:826c6171fc1b | 156 | * @return y |
shimniok | 0:826c6171fc1b | 157 | */ |
shimniok | 0:826c6171fc1b | 158 | static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 159 | { |
shimniok | 0:826c6171fc1b | 160 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 161 | r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 162 | r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 163 | r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 164 | r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 165 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 166 | } |
shimniok | 0:826c6171fc1b | 167 | |
shimniok | 0:826c6171fc1b | 168 | /** |
shimniok | 0:826c6171fc1b | 169 | * @brief Get field z from debug_vect message |
shimniok | 0:826c6171fc1b | 170 | * |
shimniok | 0:826c6171fc1b | 171 | * @return z |
shimniok | 0:826c6171fc1b | 172 | */ |
shimniok | 0:826c6171fc1b | 173 | static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 174 | { |
shimniok | 0:826c6171fc1b | 175 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 176 | r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 177 | r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 178 | r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 179 | r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 180 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 181 | } |
shimniok | 0:826c6171fc1b | 182 | |
shimniok | 0:826c6171fc1b | 183 | /** |
shimniok | 0:826c6171fc1b | 184 | * @brief Decode a debug_vect message into a struct |
shimniok | 0:826c6171fc1b | 185 | * |
shimniok | 0:826c6171fc1b | 186 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 187 | * @param debug_vect C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 188 | */ |
shimniok | 0:826c6171fc1b | 189 | static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect) |
shimniok | 0:826c6171fc1b | 190 | { |
shimniok | 0:826c6171fc1b | 191 | mavlink_msg_debug_vect_get_name(msg, debug_vect->name); |
shimniok | 0:826c6171fc1b | 192 | debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg); |
shimniok | 0:826c6171fc1b | 193 | debug_vect->x = mavlink_msg_debug_vect_get_x(msg); |
shimniok | 0:826c6171fc1b | 194 | debug_vect->y = mavlink_msg_debug_vect_get_y(msg); |
shimniok | 0:826c6171fc1b | 195 | debug_vect->z = mavlink_msg_debug_vect_get_z(msg); |
shimniok | 0:826c6171fc1b | 196 | } |