Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_data_log.h
00001 // MESSAGE DATA_LOG PACKING 00002 00003 #define MAVLINK_MSG_ID_DATA_LOG 177 00004 00005 typedef struct __mavlink_data_log_t 00006 { 00007 float fl_1; ///< Log value 1 00008 float fl_2; ///< Log value 2 00009 float fl_3; ///< Log value 3 00010 float fl_4; ///< Log value 4 00011 float fl_5; ///< Log value 5 00012 float fl_6; ///< Log value 6 00013 00014 } mavlink_data_log_t; 00015 00016 00017 00018 /** 00019 * @brief Pack a data_log 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 fl_1 Log value 1 00025 * @param fl_2 Log value 2 00026 * @param fl_3 Log value 3 00027 * @param fl_4 Log value 4 00028 * @param fl_5 Log value 5 00029 * @param fl_6 Log value 6 00030 * @return length of the message in bytes (excluding serial stream start sign) 00031 */ 00032 static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) 00033 { 00034 uint16_t i = 0; 00035 msg->msgid = MAVLINK_MSG_ID_DATA_LOG; 00036 00037 i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 00038 i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 00039 i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 00040 i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 00041 i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 00042 i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 00043 00044 return mavlink_finalize_message(msg, system_id, component_id, i); 00045 } 00046 00047 /** 00048 * @brief Pack a data_log 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 fl_1 Log value 1 00054 * @param fl_2 Log value 2 00055 * @param fl_3 Log value 3 00056 * @param fl_4 Log value 4 00057 * @param fl_5 Log value 5 00058 * @param fl_6 Log value 6 00059 * @return length of the message in bytes (excluding serial stream start sign) 00060 */ 00061 static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) 00062 { 00063 uint16_t i = 0; 00064 msg->msgid = MAVLINK_MSG_ID_DATA_LOG; 00065 00066 i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 00067 i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 00068 i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 00069 i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 00070 i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 00071 i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 00072 00073 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00074 } 00075 00076 /** 00077 * @brief Encode a data_log 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 data_log C-struct to read the message contents from 00083 */ 00084 static inline uint16_t mavlink_msg_data_log_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_log_t* data_log) 00085 { 00086 return mavlink_msg_data_log_pack(system_id, component_id, msg, data_log->fl_1, data_log->fl_2, data_log->fl_3, data_log->fl_4, data_log->fl_5, data_log->fl_6); 00087 } 00088 00089 /** 00090 * @brief Send a data_log message 00091 * @param chan MAVLink channel to send the message 00092 * 00093 * @param fl_1 Log value 1 00094 * @param fl_2 Log value 2 00095 * @param fl_3 Log value 3 00096 * @param fl_4 Log value 4 00097 * @param fl_5 Log value 5 00098 * @param fl_6 Log value 6 00099 */ 00100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00101 00102 static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) 00103 { 00104 mavlink_message_t msg; 00105 mavlink_msg_data_log_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, fl_1, fl_2, fl_3, fl_4, fl_5, fl_6); 00106 mavlink_send_uart(chan, &msg); 00107 } 00108 00109 #endif 00110 // MESSAGE DATA_LOG UNPACKING 00111 00112 /** 00113 * @brief Get field fl_1 from data_log message 00114 * 00115 * @return Log value 1 00116 */ 00117 static inline float mavlink_msg_data_log_get_fl_1(const mavlink_message_t* msg) 00118 { 00119 generic_32bit r; 00120 r.b[3] = (msg->payload)[0]; 00121 r.b[2] = (msg->payload)[1]; 00122 r.b[1] = (msg->payload)[2]; 00123 r.b[0] = (msg->payload)[3]; 00124 return (float)r.f; 00125 } 00126 00127 /** 00128 * @brief Get field fl_2 from data_log message 00129 * 00130 * @return Log value 2 00131 */ 00132 static inline float mavlink_msg_data_log_get_fl_2(const mavlink_message_t* msg) 00133 { 00134 generic_32bit r; 00135 r.b[3] = (msg->payload+sizeof(float))[0]; 00136 r.b[2] = (msg->payload+sizeof(float))[1]; 00137 r.b[1] = (msg->payload+sizeof(float))[2]; 00138 r.b[0] = (msg->payload+sizeof(float))[3]; 00139 return (float)r.f; 00140 } 00141 00142 /** 00143 * @brief Get field fl_3 from data_log message 00144 * 00145 * @return Log value 3 00146 */ 00147 static inline float mavlink_msg_data_log_get_fl_3(const mavlink_message_t* msg) 00148 { 00149 generic_32bit r; 00150 r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; 00151 r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; 00152 r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; 00153 r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; 00154 return (float)r.f; 00155 } 00156 00157 /** 00158 * @brief Get field fl_4 from data_log message 00159 * 00160 * @return Log value 4 00161 */ 00162 static inline float mavlink_msg_data_log_get_fl_4(const mavlink_message_t* msg) 00163 { 00164 generic_32bit r; 00165 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00166 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00167 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00168 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00169 return (float)r.f; 00170 } 00171 00172 /** 00173 * @brief Get field fl_5 from data_log message 00174 * 00175 * @return Log value 5 00176 */ 00177 static inline float mavlink_msg_data_log_get_fl_5(const mavlink_message_t* msg) 00178 { 00179 generic_32bit r; 00180 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00181 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00182 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00183 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00184 return (float)r.f; 00185 } 00186 00187 /** 00188 * @brief Get field fl_6 from data_log message 00189 * 00190 * @return Log value 6 00191 */ 00192 static inline float mavlink_msg_data_log_get_fl_6(const mavlink_message_t* msg) 00193 { 00194 generic_32bit r; 00195 r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00196 r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00197 r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00198 r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00199 return (float)r.f; 00200 } 00201 00202 /** 00203 * @brief Decode a data_log message into a struct 00204 * 00205 * @param msg The message to decode 00206 * @param data_log C-struct to decode the message contents into 00207 */ 00208 static inline void mavlink_msg_data_log_decode(const mavlink_message_t* msg, mavlink_data_log_t* data_log) 00209 { 00210 data_log->fl_1 = mavlink_msg_data_log_get_fl_1(msg); 00211 data_log->fl_2 = mavlink_msg_data_log_get_fl_2(msg); 00212 data_log->fl_3 = mavlink_msg_data_log_get_fl_3(msg); 00213 data_log->fl_4 = mavlink_msg_data_log_get_fl_4(msg); 00214 data_log->fl_5 = mavlink_msg_data_log_get_fl_5(msg); 00215 data_log->fl_6 = mavlink_msg_data_log_get_fl_6(msg); 00216 }
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