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/minimal/mavlink_msg_heartbeat.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 HEARTBEAT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_HEARTBEAT 0
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_heartbeat_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 8 uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 9 uint8_t mavlink_version; ///< MAVLink version
shimniok 0:a6a169de725f 10
shimniok 0:a6a169de725f 11 } mavlink_heartbeat_t;
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15 /**
shimniok 0:a6a169de725f 16 * @brief Pack a heartbeat message
shimniok 0:a6a169de725f 17 * @param system_id ID of this system
shimniok 0:a6a169de725f 18 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 19 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 20 *
shimniok 0:a6a169de725f 21 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 22 * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 23 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 24 */
shimniok 0:a6a169de725f 25 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
shimniok 0:a6a169de725f 26 {
shimniok 0:a6a169de725f 27 uint16_t i = 0;
shimniok 0:a6a169de725f 28 msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
shimniok 0:a6a169de725f 29
shimniok 0:a6a169de725f 30 i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 31 i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 32 i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
shimniok 0:a6a169de725f 33
shimniok 0:a6a169de725f 34 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 35 }
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 /**
shimniok 0:a6a169de725f 38 * @brief Pack a heartbeat message
shimniok 0:a6a169de725f 39 * @param system_id ID of this system
shimniok 0:a6a169de725f 40 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 41 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 42 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 43 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 44 * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 45 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 46 */
shimniok 0:a6a169de725f 47 static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint8_t autopilot)
shimniok 0:a6a169de725f 48 {
shimniok 0:a6a169de725f 49 uint16_t i = 0;
shimniok 0:a6a169de725f 50 msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
shimniok 0:a6a169de725f 51
shimniok 0:a6a169de725f 52 i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 53 i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 54 i += put_uint8_t_by_index(2, i, msg->payload); // MAVLink version
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 57 }
shimniok 0:a6a169de725f 58
shimniok 0:a6a169de725f 59 /**
shimniok 0:a6a169de725f 60 * @brief Encode a heartbeat struct into a message
shimniok 0:a6a169de725f 61 *
shimniok 0:a6a169de725f 62 * @param system_id ID of this system
shimniok 0:a6a169de725f 63 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 64 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 65 * @param heartbeat C-struct to read the message contents from
shimniok 0:a6a169de725f 66 */
shimniok 0:a6a169de725f 67 static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
shimniok 0:a6a169de725f 68 {
shimniok 0:a6a169de725f 69 return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
shimniok 0:a6a169de725f 70 }
shimniok 0:a6a169de725f 71
shimniok 0:a6a169de725f 72 /**
shimniok 0:a6a169de725f 73 * @brief Send a heartbeat message
shimniok 0:a6a169de725f 74 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 75 *
shimniok 0:a6a169de725f 76 * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 77 * @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 78 */
shimniok 0:a6a169de725f 79 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 80
shimniok 0:a6a169de725f 81 static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
shimniok 0:a6a169de725f 82 {
shimniok 0:a6a169de725f 83 mavlink_message_t msg;
shimniok 0:a6a169de725f 84 mavlink_msg_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, autopilot);
shimniok 0:a6a169de725f 85 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 86 }
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 #endif
shimniok 0:a6a169de725f 89 // MESSAGE HEARTBEAT UNPACKING
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91 /**
shimniok 0:a6a169de725f 92 * @brief Get field type from heartbeat message
shimniok 0:a6a169de725f 93 *
shimniok 0:a6a169de725f 94 * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
shimniok 0:a6a169de725f 95 */
shimniok 0:a6a169de725f 96 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 97 {
shimniok 0:a6a169de725f 98 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 99 }
shimniok 0:a6a169de725f 100
shimniok 0:a6a169de725f 101 /**
shimniok 0:a6a169de725f 102 * @brief Get field autopilot from heartbeat message
shimniok 0:a6a169de725f 103 *
shimniok 0:a6a169de725f 104 * @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
shimniok 0:a6a169de725f 105 */
shimniok 0:a6a169de725f 106 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 107 {
shimniok 0:a6a169de725f 108 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 109 }
shimniok 0:a6a169de725f 110
shimniok 0:a6a169de725f 111 /**
shimniok 0:a6a169de725f 112 * @brief Get field mavlink_version from heartbeat message
shimniok 0:a6a169de725f 113 *
shimniok 0:a6a169de725f 114 * @return MAVLink version
shimniok 0:a6a169de725f 115 */
shimniok 0:a6a169de725f 116 static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 117 {
shimniok 0:a6a169de725f 118 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120
shimniok 0:a6a169de725f 121 /**
shimniok 0:a6a169de725f 122 * @brief Decode a heartbeat message into a struct
shimniok 0:a6a169de725f 123 *
shimniok 0:a6a169de725f 124 * @param msg The message to decode
shimniok 0:a6a169de725f 125 * @param heartbeat C-struct to decode the message contents into
shimniok 0:a6a169de725f 126 */
shimniok 0:a6a169de725f 127 static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
shimniok 0:a6a169de725f 128 {
shimniok 0:a6a169de725f 129 heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
shimniok 0:a6a169de725f 130 heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
shimniok 0:a6a169de725f 131 heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
shimniok 0:a6a169de725f 132 }