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_ping.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 PING PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_PING 3
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_ping_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint32_t seq; ///< PING sequence
shimniok 0:a6a169de725f 8 uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 9 uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 10 uint64_t time; ///< Unix timestamp in microseconds
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12 } mavlink_ping_t;
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 /**
shimniok 0:a6a169de725f 17 * @brief Pack a ping message
shimniok 0:a6a169de725f 18 * @param system_id ID of this system
shimniok 0:a6a169de725f 19 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 20 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 21 *
shimniok 0:a6a169de725f 22 * @param seq PING sequence
shimniok 0:a6a169de725f 23 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 24 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 25 * @param time Unix timestamp in microseconds
shimniok 0:a6a169de725f 26 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 27 */
shimniok 0:a6a169de725f 28 static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
shimniok 0:a6a169de725f 29 {
shimniok 0:a6a169de725f 30 uint16_t i = 0;
shimniok 0:a6a169de725f 31 msg->msgid = MAVLINK_MSG_ID_PING;
shimniok 0:a6a169de725f 32
shimniok 0:a6a169de725f 33 i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
shimniok 0:a6a169de725f 34 i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 35 i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 36 i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
shimniok 0:a6a169de725f 37
shimniok 0:a6a169de725f 38 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 39 }
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 /**
shimniok 0:a6a169de725f 42 * @brief Pack a ping message
shimniok 0:a6a169de725f 43 * @param system_id ID of this system
shimniok 0:a6a169de725f 44 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 45 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 46 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 47 * @param seq PING sequence
shimniok 0:a6a169de725f 48 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 49 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 50 * @param time Unix timestamp in microseconds
shimniok 0:a6a169de725f 51 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 52 */
shimniok 0:a6a169de725f 53 static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
shimniok 0:a6a169de725f 54 {
shimniok 0:a6a169de725f 55 uint16_t i = 0;
shimniok 0:a6a169de725f 56 msg->msgid = MAVLINK_MSG_ID_PING;
shimniok 0:a6a169de725f 57
shimniok 0:a6a169de725f 58 i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
shimniok 0:a6a169de725f 59 i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 60 i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 61 i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
shimniok 0:a6a169de725f 62
shimniok 0:a6a169de725f 63 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 64 }
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 /**
shimniok 0:a6a169de725f 67 * @brief Encode a ping struct into a message
shimniok 0:a6a169de725f 68 *
shimniok 0:a6a169de725f 69 * @param system_id ID of this system
shimniok 0:a6a169de725f 70 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 71 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 72 * @param ping C-struct to read the message contents from
shimniok 0:a6a169de725f 73 */
shimniok 0:a6a169de725f 74 static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
shimniok 0:a6a169de725f 75 {
shimniok 0:a6a169de725f 76 return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time);
shimniok 0:a6a169de725f 77 }
shimniok 0:a6a169de725f 78
shimniok 0:a6a169de725f 79 /**
shimniok 0:a6a169de725f 80 * @brief Send a ping message
shimniok 0:a6a169de725f 81 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 82 *
shimniok 0:a6a169de725f 83 * @param seq PING sequence
shimniok 0:a6a169de725f 84 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 85 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 86 * @param time Unix timestamp in microseconds
shimniok 0:a6a169de725f 87 */
shimniok 0:a6a169de725f 88 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 89
shimniok 0:a6a169de725f 90 static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
shimniok 0:a6a169de725f 91 {
shimniok 0:a6a169de725f 92 mavlink_message_t msg;
shimniok 0:a6a169de725f 93 mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time);
shimniok 0:a6a169de725f 94 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 95 }
shimniok 0:a6a169de725f 96
shimniok 0:a6a169de725f 97 #endif
shimniok 0:a6a169de725f 98 // MESSAGE PING UNPACKING
shimniok 0:a6a169de725f 99
shimniok 0:a6a169de725f 100 /**
shimniok 0:a6a169de725f 101 * @brief Get field seq from ping message
shimniok 0:a6a169de725f 102 *
shimniok 0:a6a169de725f 103 * @return PING sequence
shimniok 0:a6a169de725f 104 */
shimniok 0:a6a169de725f 105 static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 106 {
shimniok 0:a6a169de725f 107 generic_32bit r;
shimniok 0:a6a169de725f 108 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 109 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 110 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 111 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 112 return (uint32_t)r.i;
shimniok 0:a6a169de725f 113 }
shimniok 0:a6a169de725f 114
shimniok 0:a6a169de725f 115 /**
shimniok 0:a6a169de725f 116 * @brief Get field target_system from ping message
shimniok 0:a6a169de725f 117 *
shimniok 0:a6a169de725f 118 * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 119 */
shimniok 0:a6a169de725f 120 static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 121 {
shimniok 0:a6a169de725f 122 return (uint8_t)(msg->payload+sizeof(uint32_t))[0];
shimniok 0:a6a169de725f 123 }
shimniok 0:a6a169de725f 124
shimniok 0:a6a169de725f 125 /**
shimniok 0:a6a169de725f 126 * @brief Get field target_component from ping message
shimniok 0:a6a169de725f 127 *
shimniok 0:a6a169de725f 128 * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 133 }
shimniok 0:a6a169de725f 134
shimniok 0:a6a169de725f 135 /**
shimniok 0:a6a169de725f 136 * @brief Get field time from ping message
shimniok 0:a6a169de725f 137 *
shimniok 0:a6a169de725f 138 * @return Unix timestamp in microseconds
shimniok 0:a6a169de725f 139 */
shimniok 0:a6a169de725f 140 static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 141 {
shimniok 0:a6a169de725f 142 generic_64bit r;
shimniok 0:a6a169de725f 143 r.b[7] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 144 r.b[6] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 145 r.b[5] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 146 r.b[4] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 147 r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[4];
shimniok 0:a6a169de725f 148 r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[5];
shimniok 0:a6a169de725f 149 r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[6];
shimniok 0:a6a169de725f 150 r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[7];
shimniok 0:a6a169de725f 151 return (uint64_t)r.ll;
shimniok 0:a6a169de725f 152 }
shimniok 0:a6a169de725f 153
shimniok 0:a6a169de725f 154 /**
shimniok 0:a6a169de725f 155 * @brief Decode a ping message into a struct
shimniok 0:a6a169de725f 156 *
shimniok 0:a6a169de725f 157 * @param msg The message to decode
shimniok 0:a6a169de725f 158 * @param ping C-struct to decode the message contents into
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
shimniok 0:a6a169de725f 161 {
shimniok 0:a6a169de725f 162 ping->seq = mavlink_msg_ping_get_seq(msg);
shimniok 0:a6a169de725f 163 ping->target_system = mavlink_msg_ping_get_target_system(msg);
shimniok 0:a6a169de725f 164 ping->target_component = mavlink_msg_ping_get_target_component(msg);
shimniok 0:a6a169de725f 165 ping->time = mavlink_msg_ping_get_time(msg);
shimniok 0:a6a169de725f 166 }