Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

MAVlink/include/common/mavlink_msg_debug_vect.h@0:a6a169de725f, 2013-05-27 (annotated)

Committer:
shimniok
Date:
Mon May 27 13:26:03 2013 +0000
Revision:
0:a6a169de725f
Working version with priorities set and update time display

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE DEBUG_VECT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_DEBUG_VECT 251
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_debug_vect_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 char name[10]; ///< Name
shimniok 0:a6a169de725f 8 uint64_t usec; ///< Timestamp
shimniok 0:a6a169de725f 9 float x; ///< x
shimniok 0:a6a169de725f 10 float y; ///< y
shimniok 0:a6a169de725f 11 float z; ///< z
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13 } mavlink_debug_vect_t;
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 #define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a debug_vect message
shimniok 0:a6a169de725f 20 * @param system_id ID of this system
shimniok 0:a6a169de725f 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 22 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 23 *
shimniok 0:a6a169de725f 24 * @param name Name
shimniok 0:a6a169de725f 25 * @param usec Timestamp
shimniok 0:a6a169de725f 26 * @param x x
shimniok 0:a6a169de725f 27 * @param y y
shimniok 0:a6a169de725f 28 * @param z z
shimniok 0:a6a169de725f 29 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 30 */
shimniok 0:a6a169de725f 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:a6a169de725f 32 {
shimniok 0:a6a169de725f 33 uint16_t i = 0;
shimniok 0:a6a169de725f 34 msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
shimniok 0:a6a169de725f 35
shimniok 0:a6a169de725f 36 i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name
shimniok 0:a6a169de725f 37 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp
shimniok 0:a6a169de725f 38 i += put_float_by_index(x, i, msg->payload); // x
shimniok 0:a6a169de725f 39 i += put_float_by_index(y, i, msg->payload); // y
shimniok 0:a6a169de725f 40 i += put_float_by_index(z, i, msg->payload); // z
shimniok 0:a6a169de725f 41
shimniok 0:a6a169de725f 42 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 43 }
shimniok 0:a6a169de725f 44
shimniok 0:a6a169de725f 45 /**
shimniok 0:a6a169de725f 46 * @brief Pack a debug_vect message
shimniok 0:a6a169de725f 47 * @param system_id ID of this system
shimniok 0:a6a169de725f 48 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 49 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 50 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 51 * @param name Name
shimniok 0:a6a169de725f 52 * @param usec Timestamp
shimniok 0:a6a169de725f 53 * @param x x
shimniok 0:a6a169de725f 54 * @param y y
shimniok 0:a6a169de725f 55 * @param z z
shimniok 0:a6a169de725f 56 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 57 */
shimniok 0:a6a169de725f 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:a6a169de725f 59 {
shimniok 0:a6a169de725f 60 uint16_t i = 0;
shimniok 0:a6a169de725f 61 msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
shimniok 0:a6a169de725f 62
shimniok 0:a6a169de725f 63 i += put_array_by_index((const int8_t*)name, sizeof(char)*10, i, msg->payload); // Name
shimniok 0:a6a169de725f 64 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp
shimniok 0:a6a169de725f 65 i += put_float_by_index(x, i, msg->payload); // x
shimniok 0:a6a169de725f 66 i += put_float_by_index(y, i, msg->payload); // y
shimniok 0:a6a169de725f 67 i += put_float_by_index(z, i, msg->payload); // z
shimniok 0:a6a169de725f 68
shimniok 0:a6a169de725f 69 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 70 }
shimniok 0:a6a169de725f 71
shimniok 0:a6a169de725f 72 /**
shimniok 0:a6a169de725f 73 * @brief Encode a debug_vect struct into a message
shimniok 0:a6a169de725f 74 *
shimniok 0:a6a169de725f 75 * @param system_id ID of this system
shimniok 0:a6a169de725f 76 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 77 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 78 * @param debug_vect C-struct to read the message contents from
shimniok 0:a6a169de725f 79 */
shimniok 0:a6a169de725f 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:a6a169de725f 81 {
shimniok 0:a6a169de725f 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:a6a169de725f 83 }
shimniok 0:a6a169de725f 84
shimniok 0:a6a169de725f 85 /**
shimniok 0:a6a169de725f 86 * @brief Send a debug_vect message
shimniok 0:a6a169de725f 87 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 88 *
shimniok 0:a6a169de725f 89 * @param name Name
shimniok 0:a6a169de725f 90 * @param usec Timestamp
shimniok 0:a6a169de725f 91 * @param x x
shimniok 0:a6a169de725f 92 * @param y y
shimniok 0:a6a169de725f 93 * @param z z
shimniok 0:a6a169de725f 94 */
shimniok 0:a6a169de725f 95 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 96
shimniok 0:a6a169de725f 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:a6a169de725f 98 {
shimniok 0:a6a169de725f 99 mavlink_message_t msg;
shimniok 0:a6a169de725f 100 mavlink_msg_debug_vect_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, name, usec, x, y, z);
shimniok 0:a6a169de725f 101 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 102 }
shimniok 0:a6a169de725f 103
shimniok 0:a6a169de725f 104 #endif
shimniok 0:a6a169de725f 105 // MESSAGE DEBUG_VECT UNPACKING
shimniok 0:a6a169de725f 106
shimniok 0:a6a169de725f 107 /**
shimniok 0:a6a169de725f 108 * @brief Get field name from debug_vect message
shimniok 0:a6a169de725f 109 *
shimniok 0:a6a169de725f 110 * @return Name
shimniok 0:a6a169de725f 111 */
shimniok 0:a6a169de725f 112 static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char* r_data)
shimniok 0:a6a169de725f 113 {
shimniok 0:a6a169de725f 114
shimniok 0:a6a169de725f 115 memcpy(r_data, msg->payload, sizeof(char)*10);
shimniok 0:a6a169de725f 116 return sizeof(char)*10;
shimniok 0:a6a169de725f 117 }
shimniok 0:a6a169de725f 118
shimniok 0:a6a169de725f 119 /**
shimniok 0:a6a169de725f 120 * @brief Get field usec from debug_vect message
shimniok 0:a6a169de725f 121 *
shimniok 0:a6a169de725f 122 * @return Timestamp
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 static inline uint64_t mavlink_msg_debug_vect_get_usec(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 125 {
shimniok 0:a6a169de725f 126 generic_64bit r;
shimniok 0:a6a169de725f 127 r.b[7] = (msg->payload+sizeof(char)*10)[0];
shimniok 0:a6a169de725f 128 r.b[6] = (msg->payload+sizeof(char)*10)[1];
shimniok 0:a6a169de725f 129 r.b[5] = (msg->payload+sizeof(char)*10)[2];
shimniok 0:a6a169de725f 130 r.b[4] = (msg->payload+sizeof(char)*10)[3];
shimniok 0:a6a169de725f 131 r.b[3] = (msg->payload+sizeof(char)*10)[4];
shimniok 0:a6a169de725f 132 r.b[2] = (msg->payload+sizeof(char)*10)[5];
shimniok 0:a6a169de725f 133 r.b[1] = (msg->payload+sizeof(char)*10)[6];
shimniok 0:a6a169de725f 134 r.b[0] = (msg->payload+sizeof(char)*10)[7];
shimniok 0:a6a169de725f 135 return (uint64_t)r.ll;
shimniok 0:a6a169de725f 136 }
shimniok 0:a6a169de725f 137
shimniok 0:a6a169de725f 138 /**
shimniok 0:a6a169de725f 139 * @brief Get field x from debug_vect message
shimniok 0:a6a169de725f 140 *
shimniok 0:a6a169de725f 141 * @return x
shimniok 0:a6a169de725f 142 */
shimniok 0:a6a169de725f 143 static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 144 {
shimniok 0:a6a169de725f 145 generic_32bit r;
shimniok 0:a6a169de725f 146 r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[0];
shimniok 0:a6a169de725f 147 r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[1];
shimniok 0:a6a169de725f 148 r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[2];
shimniok 0:a6a169de725f 149 r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t))[3];
shimniok 0:a6a169de725f 150 return (float)r.f;
shimniok 0:a6a169de725f 151 }
shimniok 0:a6a169de725f 152
shimniok 0:a6a169de725f 153 /**
shimniok 0:a6a169de725f 154 * @brief Get field y from debug_vect message
shimniok 0:a6a169de725f 155 *
shimniok 0:a6a169de725f 156 * @return y
shimniok 0:a6a169de725f 157 */
shimniok 0:a6a169de725f 158 static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 159 {
shimniok 0:a6a169de725f 160 generic_32bit r;
shimniok 0:a6a169de725f 161 r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 162 r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 163 r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 164 r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 165 return (float)r.f;
shimniok 0:a6a169de725f 166 }
shimniok 0:a6a169de725f 167
shimniok 0:a6a169de725f 168 /**
shimniok 0:a6a169de725f 169 * @brief Get field z from debug_vect message
shimniok 0:a6a169de725f 170 *
shimniok 0:a6a169de725f 171 * @return z
shimniok 0:a6a169de725f 172 */
shimniok 0:a6a169de725f 173 static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 174 {
shimniok 0:a6a169de725f 175 generic_32bit r;
shimniok 0:a6a169de725f 176 r.b[3] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 177 r.b[2] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 178 r.b[1] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 179 r.b[0] = (msg->payload+sizeof(char)*10+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 180 return (float)r.f;
shimniok 0:a6a169de725f 181 }
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 /**
shimniok 0:a6a169de725f 184 * @brief Decode a debug_vect message into a struct
shimniok 0:a6a169de725f 185 *
shimniok 0:a6a169de725f 186 * @param msg The message to decode
shimniok 0:a6a169de725f 187 * @param debug_vect C-struct to decode the message contents into
shimniok 0:a6a169de725f 188 */
shimniok 0:a6a169de725f 189 static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
shimniok 0:a6a169de725f 190 {
shimniok 0:a6a169de725f 191 mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
shimniok 0:a6a169de725f 192 debug_vect->usec = mavlink_msg_debug_vect_get_usec(msg);
shimniok 0:a6a169de725f 193 debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
shimniok 0:a6a169de725f 194 debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
shimniok 0:a6a169de725f 195 debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
shimniok 0:a6a169de725f 196 }