mavlink_msg_aux_status.h

00001 // MESSAGE AUX_STATUS PACKING
00002 
00003 #define MAVLINK_MSG_ID_AUX_STATUS 142
00004 
00005 typedef struct __mavlink_aux_status_t 
00006 {
00007     uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00008     uint16_t i2c0_err_count; ///< Number of I2C errors since startup
00009     uint16_t i2c1_err_count; ///< Number of I2C errors since startup
00010     uint16_t spi0_err_count; ///< Number of I2C errors since startup
00011     uint16_t spi1_err_count; ///< Number of I2C errors since startup
00012     uint16_t uart_total_err_count; ///< Number of I2C errors since startup
00013 
00014 } mavlink_aux_status_t;
00015 
00016 
00017 
00018 /**
00019  * @brief Pack a aux_status message
00020  * @param system_id ID of this system
00021  * @param component_id ID of this component (e.g. 200 for IMU)
00022  * @param msg The MAVLink message to compress the data into
00023  *
00024  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00025  * @param i2c0_err_count Number of I2C errors since startup
00026  * @param i2c1_err_count Number of I2C errors since startup
00027  * @param spi0_err_count Number of I2C errors since startup
00028  * @param spi1_err_count Number of I2C errors since startup
00029  * @param uart_total_err_count Number of I2C errors since startup
00030  * @return length of the message in bytes (excluding serial stream start sign)
00031  */
00032 static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
00033 {
00034     uint16_t i = 0;
00035     msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
00036 
00037     i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00038     i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
00039     i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
00040     i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
00041     i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
00042     i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
00043 
00044     return mavlink_finalize_message(msg, system_id, component_id, i);
00045 }
00046 
00047 /**
00048  * @brief Pack a aux_status message
00049  * @param system_id ID of this system
00050  * @param component_id ID of this component (e.g. 200 for IMU)
00051  * @param chan The MAVLink channel this message was sent over
00052  * @param msg The MAVLink message to compress the data into
00053  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00054  * @param i2c0_err_count Number of I2C errors since startup
00055  * @param i2c1_err_count Number of I2C errors since startup
00056  * @param spi0_err_count Number of I2C errors since startup
00057  * @param spi1_err_count Number of I2C errors since startup
00058  * @param uart_total_err_count Number of I2C errors since startup
00059  * @return length of the message in bytes (excluding serial stream start sign)
00060  */
00061 static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
00062 {
00063     uint16_t i = 0;
00064     msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
00065 
00066     i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00067     i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
00068     i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
00069     i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
00070     i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
00071     i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
00072 
00073     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00074 }
00075 
00076 /**
00077  * @brief Encode a aux_status struct into a message
00078  *
00079  * @param system_id ID of this system
00080  * @param component_id ID of this component (e.g. 200 for IMU)
00081  * @param msg The MAVLink message to compress the data into
00082  * @param aux_status C-struct to read the message contents from
00083  */
00084 static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status)
00085 {
00086     return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count);
00087 }
00088 
00089 /**
00090  * @brief Send a aux_status message
00091  * @param chan MAVLink channel to send the message
00092  *
00093  * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00094  * @param i2c0_err_count Number of I2C errors since startup
00095  * @param i2c1_err_count Number of I2C errors since startup
00096  * @param spi0_err_count Number of I2C errors since startup
00097  * @param spi1_err_count Number of I2C errors since startup
00098  * @param uart_total_err_count Number of I2C errors since startup
00099  */
00100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00101 
00102 static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
00103 {
00104     mavlink_message_t msg;
00105     mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count);
00106     mavlink_send_uart(chan, &msg);
00107 }
00108 
00109 #endif
00110 // MESSAGE AUX_STATUS UNPACKING
00111 
00112 /**
00113  * @brief Get field load from aux_status message
00114  *
00115  * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
00116  */
00117 static inline uint16_t mavlink_msg_aux_status_get_load(const mavlink_message_t* msg)
00118 {
00119     generic_16bit r;
00120     r.b[1] = (msg->payload)[0];
00121     r.b[0] = (msg->payload)[1];
00122     return (uint16_t)r.s;
00123 }
00124 
00125 /**
00126  * @brief Get field i2c0_err_count from aux_status message
00127  *
00128  * @return Number of I2C errors since startup
00129  */
00130 static inline uint16_t mavlink_msg_aux_status_get_i2c0_err_count(const mavlink_message_t* msg)
00131 {
00132     generic_16bit r;
00133     r.b[1] = (msg->payload+sizeof(uint16_t))[0];
00134     r.b[0] = (msg->payload+sizeof(uint16_t))[1];
00135     return (uint16_t)r.s;
00136 }
00137 
00138 /**
00139  * @brief Get field i2c1_err_count from aux_status message
00140  *
00141  * @return Number of I2C errors since startup
00142  */
00143 static inline uint16_t mavlink_msg_aux_status_get_i2c1_err_count(const mavlink_message_t* msg)
00144 {
00145     generic_16bit r;
00146     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
00147     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
00148     return (uint16_t)r.s;
00149 }
00150 
00151 /**
00152  * @brief Get field spi0_err_count from aux_status message
00153  *
00154  * @return Number of I2C errors since startup
00155  */
00156 static inline uint16_t mavlink_msg_aux_status_get_spi0_err_count(const mavlink_message_t* msg)
00157 {
00158     generic_16bit r;
00159     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00160     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00161     return (uint16_t)r.s;
00162 }
00163 
00164 /**
00165  * @brief Get field spi1_err_count from aux_status message
00166  *
00167  * @return Number of I2C errors since startup
00168  */
00169 static inline uint16_t mavlink_msg_aux_status_get_spi1_err_count(const mavlink_message_t* msg)
00170 {
00171     generic_16bit r;
00172     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00173     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00174     return (uint16_t)r.s;
00175 }
00176 
00177 /**
00178  * @brief Get field uart_total_err_count from aux_status message
00179  *
00180  * @return Number of I2C errors since startup
00181  */
00182 static inline uint16_t mavlink_msg_aux_status_get_uart_total_err_count(const mavlink_message_t* msg)
00183 {
00184     generic_16bit r;
00185     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00186     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00187     return (uint16_t)r.s;
00188 }
00189 
00190 /**
00191  * @brief Decode a aux_status message into a struct
00192  *
00193  * @param msg The message to decode
00194  * @param aux_status C-struct to decode the message contents into
00195  */
00196 static inline void mavlink_msg_aux_status_decode(const mavlink_message_t* msg, mavlink_aux_status_t* aux_status)
00197 {
00198     aux_status->load = mavlink_msg_aux_status_get_load(msg);
00199     aux_status->i2c0_err_count = mavlink_msg_aux_status_get_i2c0_err_count(msg);
00200     aux_status->i2c1_err_count = mavlink_msg_aux_status_get_i2c1_err_count(msg);
00201     aux_status->spi0_err_count = mavlink_msg_aux_status_get_spi0_err_count(msg);
00202     aux_status->spi1_err_count = mavlink_msg_aux_status_get_spi1_err_count(msg);
00203     aux_status->uart_total_err_count = mavlink_msg_aux_status_get_uart_total_err_count(msg);
00204 }