mavlink_msg_raw_aux.h

00001 // MESSAGE RAW_AUX PACKING
00002 
00003 #define MAVLINK_MSG_ID_RAW_AUX 141
00004 
00005 typedef struct __mavlink_raw_aux_t 
00006 {
00007     uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6)
00008     uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2)
00009     uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1)
00010     uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3)
00011     uint16_t vbat; ///< Battery voltage
00012     int16_t temp; ///< Temperature (degrees celcius)
00013     int32_t baro; ///< Barometric pressure (hecto Pascal)
00014 
00015 } mavlink_raw_aux_t;
00016 
00017 
00018 
00019 /**
00020  * @brief Pack a raw_aux message
00021  * @param system_id ID of this system
00022  * @param component_id ID of this component (e.g. 200 for IMU)
00023  * @param msg The MAVLink message to compress the data into
00024  *
00025  * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
00026  * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
00027  * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
00028  * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
00029  * @param vbat Battery voltage
00030  * @param temp Temperature (degrees celcius)
00031  * @param baro Barometric pressure (hecto Pascal)
00032  * @return length of the message in bytes (excluding serial stream start sign)
00033  */
00034 static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
00035 {
00036     uint16_t i = 0;
00037     msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
00038 
00039     i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6)
00040     i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2)
00041     i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1)
00042     i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3)
00043     i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage
00044     i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius)
00045     i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal)
00046 
00047     return mavlink_finalize_message(msg, system_id, component_id, i);
00048 }
00049 
00050 /**
00051  * @brief Pack a raw_aux message
00052  * @param system_id ID of this system
00053  * @param component_id ID of this component (e.g. 200 for IMU)
00054  * @param chan The MAVLink channel this message was sent over
00055  * @param msg The MAVLink message to compress the data into
00056  * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
00057  * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
00058  * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
00059  * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
00060  * @param vbat Battery voltage
00061  * @param temp Temperature (degrees celcius)
00062  * @param baro Barometric pressure (hecto Pascal)
00063  * @return length of the message in bytes (excluding serial stream start sign)
00064  */
00065 static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
00066 {
00067     uint16_t i = 0;
00068     msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
00069 
00070     i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6)
00071     i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2)
00072     i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1)
00073     i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3)
00074     i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage
00075     i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius)
00076     i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal)
00077 
00078     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00079 }
00080 
00081 /**
00082  * @brief Encode a raw_aux struct into a message
00083  *
00084  * @param system_id ID of this system
00085  * @param component_id ID of this component (e.g. 200 for IMU)
00086  * @param msg The MAVLink message to compress the data into
00087  * @param raw_aux C-struct to read the message contents from
00088  */
00089 static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_aux_t* raw_aux)
00090 {
00091     return mavlink_msg_raw_aux_pack(system_id, component_id, msg, raw_aux->adc1, raw_aux->adc2, raw_aux->adc3, raw_aux->adc4, raw_aux->vbat, raw_aux->temp, raw_aux->baro);
00092 }
00093 
00094 /**
00095  * @brief Send a raw_aux message
00096  * @param chan MAVLink channel to send the message
00097  *
00098  * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
00099  * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
00100  * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
00101  * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
00102  * @param vbat Battery voltage
00103  * @param temp Temperature (degrees celcius)
00104  * @param baro Barometric pressure (hecto Pascal)
00105  */
00106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00107 
00108 static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
00109 {
00110     mavlink_message_t msg;
00111     mavlink_msg_raw_aux_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, adc1, adc2, adc3, adc4, vbat, temp, baro);
00112     mavlink_send_uart(chan, &msg);
00113 }
00114 
00115 #endif
00116 // MESSAGE RAW_AUX UNPACKING
00117 
00118 /**
00119  * @brief Get field adc1 from raw_aux message
00120  *
00121  * @return ADC1 (J405 ADC3, LPC2148 AD0.6)
00122  */
00123 static inline uint16_t mavlink_msg_raw_aux_get_adc1(const mavlink_message_t* msg)
00124 {
00125     generic_16bit r;
00126     r.b[1] = (msg->payload)[0];
00127     r.b[0] = (msg->payload)[1];
00128     return (uint16_t)r.s;
00129 }
00130 
00131 /**
00132  * @brief Get field adc2 from raw_aux message
00133  *
00134  * @return ADC2 (J405 ADC5, LPC2148 AD0.2)
00135  */
00136 static inline uint16_t mavlink_msg_raw_aux_get_adc2(const mavlink_message_t* msg)
00137 {
00138     generic_16bit r;
00139     r.b[1] = (msg->payload+sizeof(uint16_t))[0];
00140     r.b[0] = (msg->payload+sizeof(uint16_t))[1];
00141     return (uint16_t)r.s;
00142 }
00143 
00144 /**
00145  * @brief Get field adc3 from raw_aux message
00146  *
00147  * @return ADC3 (J405 ADC6, LPC2148 AD0.1)
00148  */
00149 static inline uint16_t mavlink_msg_raw_aux_get_adc3(const mavlink_message_t* msg)
00150 {
00151     generic_16bit r;
00152     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
00153     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
00154     return (uint16_t)r.s;
00155 }
00156 
00157 /**
00158  * @brief Get field adc4 from raw_aux message
00159  *
00160  * @return ADC4 (J405 ADC7, LPC2148 AD1.3)
00161  */
00162 static inline uint16_t mavlink_msg_raw_aux_get_adc4(const mavlink_message_t* msg)
00163 {
00164     generic_16bit r;
00165     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00166     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00167     return (uint16_t)r.s;
00168 }
00169 
00170 /**
00171  * @brief Get field vbat from raw_aux message
00172  *
00173  * @return Battery voltage
00174  */
00175 static inline uint16_t mavlink_msg_raw_aux_get_vbat(const mavlink_message_t* msg)
00176 {
00177     generic_16bit r;
00178     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00179     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00180     return (uint16_t)r.s;
00181 }
00182 
00183 /**
00184  * @brief Get field temp from raw_aux message
00185  *
00186  * @return Temperature (degrees celcius)
00187  */
00188 static inline int16_t mavlink_msg_raw_aux_get_temp(const mavlink_message_t* msg)
00189 {
00190     generic_16bit r;
00191     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
00192     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
00193     return (int16_t)r.s;
00194 }
00195 
00196 /**
00197  * @brief Get field baro from raw_aux message
00198  *
00199  * @return Barometric pressure (hecto Pascal)
00200  */
00201 static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg)
00202 {
00203     generic_32bit r;
00204     r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[0];
00205     r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[1];
00206     r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[2];
00207     r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[3];
00208     return (int32_t)r.i;
00209 }
00210 
00211 /**
00212  * @brief Decode a raw_aux message into a struct
00213  *
00214  * @param msg The message to decode
00215  * @param raw_aux C-struct to decode the message contents into
00216  */
00217 static inline void mavlink_msg_raw_aux_decode(const mavlink_message_t* msg, mavlink_raw_aux_t* raw_aux)
00218 {
00219     raw_aux->adc1 = mavlink_msg_raw_aux_get_adc1(msg);
00220     raw_aux->adc2 = mavlink_msg_raw_aux_get_adc2(msg);
00221     raw_aux->adc3 = mavlink_msg_raw_aux_get_adc3(msg);
00222     raw_aux->adc4 = mavlink_msg_raw_aux_get_adc4(msg);
00223     raw_aux->vbat = mavlink_msg_raw_aux_get_vbat(msg);
00224     raw_aux->temp = mavlink_msg_raw_aux_get_temp(msg);
00225     raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg);
00226 }