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/pixhawk/mavlink_msg_aux_status.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 AUX_STATUS PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_AUX_STATUS 142
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_aux_status_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 8 uint16_t i2c0_err_count; ///< Number of I2C errors since startup
shimniok 0:a6a169de725f 9 uint16_t i2c1_err_count; ///< Number of I2C errors since startup
shimniok 0:a6a169de725f 10 uint16_t spi0_err_count; ///< Number of I2C errors since startup
shimniok 0:a6a169de725f 11 uint16_t spi1_err_count; ///< Number of I2C errors since startup
shimniok 0:a6a169de725f 12 uint16_t uart_total_err_count; ///< Number of I2C errors since startup
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_aux_status_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 25 * @param i2c0_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 26 * @param i2c1_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 27 * @param spi0_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 28 * @param spi1_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 29 * @param uart_total_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 31 */
shimniok 0:a6a169de725f 32 static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
shimniok 0:a6a169de725f 33 {
shimniok 0:a6a169de725f 34 uint16_t i = 0;
shimniok 0:a6a169de725f 35 msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 38 i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 39 i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 40 i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 41 i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 42 i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 45 }
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 /**
shimniok 0:a6a169de725f 48 * @brief Pack a aux_status message
shimniok 0:a6a169de725f 49 * @param system_id ID of this system
shimniok 0:a6a169de725f 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 52 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 53 * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 54 * @param i2c0_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 55 * @param i2c1_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 56 * @param spi0_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 57 * @param spi1_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 58 * @param uart_total_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 60 */
shimniok 0:a6a169de725f 61 static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
shimniok 0:a6a169de725f 62 {
shimniok 0:a6a169de725f 63 uint16_t i = 0;
shimniok 0:a6a169de725f 64 msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 67 i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 68 i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 69 i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 70 i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 71 i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 74 }
shimniok 0:a6a169de725f 75
shimniok 0:a6a169de725f 76 /**
shimniok 0:a6a169de725f 77 * @brief Encode a aux_status struct into a message
shimniok 0:a6a169de725f 78 *
shimniok 0:a6a169de725f 79 * @param system_id ID of this system
shimniok 0:a6a169de725f 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 81 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 82 * @param aux_status C-struct to read the message contents from
shimniok 0:a6a169de725f 83 */
shimniok 0:a6a169de725f 84 static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count);
shimniok 0:a6a169de725f 87 }
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 /**
shimniok 0:a6a169de725f 90 * @brief Send a aux_status message
shimniok 0:a6a169de725f 91 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 94 * @param i2c0_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 95 * @param i2c1_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 96 * @param spi0_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 97 * @param spi1_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 98 * @param uart_total_err_count Number of I2C errors since startup
shimniok 0:a6a169de725f 99 */
shimniok 0:a6a169de725f 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 101
shimniok 0:a6a169de725f 102 static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
shimniok 0:a6a169de725f 103 {
shimniok 0:a6a169de725f 104 mavlink_message_t msg;
shimniok 0:a6a169de725f 105 mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count);
shimniok 0:a6a169de725f 106 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 107 }
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 #endif
shimniok 0:a6a169de725f 110 // MESSAGE AUX_STATUS UNPACKING
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 /**
shimniok 0:a6a169de725f 113 * @brief Get field load from aux_status message
shimniok 0:a6a169de725f 114 *
shimniok 0:a6a169de725f 115 * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
shimniok 0:a6a169de725f 116 */
shimniok 0:a6a169de725f 117 static inline uint16_t mavlink_msg_aux_status_get_load(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 118 {
shimniok 0:a6a169de725f 119 generic_16bit r;
shimniok 0:a6a169de725f 120 r.b[1] = (msg->payload)[0];
shimniok 0:a6a169de725f 121 r.b[0] = (msg->payload)[1];
shimniok 0:a6a169de725f 122 return (uint16_t)r.s;
shimniok 0:a6a169de725f 123 }
shimniok 0:a6a169de725f 124
shimniok 0:a6a169de725f 125 /**
shimniok 0:a6a169de725f 126 * @brief Get field i2c0_err_count from aux_status message
shimniok 0:a6a169de725f 127 *
shimniok 0:a6a169de725f 128 * @return Number of I2C errors since startup
shimniok 0:a6a169de725f 129 */
shimniok 0:a6a169de725f 130 static inline uint16_t mavlink_msg_aux_status_get_i2c0_err_count(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 131 {
shimniok 0:a6a169de725f 132 generic_16bit r;
shimniok 0:a6a169de725f 133 r.b[1] = (msg->payload+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 134 r.b[0] = (msg->payload+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 135 return (uint16_t)r.s;
shimniok 0:a6a169de725f 136 }
shimniok 0:a6a169de725f 137
shimniok 0:a6a169de725f 138 /**
shimniok 0:a6a169de725f 139 * @brief Get field i2c1_err_count from aux_status message
shimniok 0:a6a169de725f 140 *
shimniok 0:a6a169de725f 141 * @return Number of I2C errors since startup
shimniok 0:a6a169de725f 142 */
shimniok 0:a6a169de725f 143 static inline uint16_t mavlink_msg_aux_status_get_i2c1_err_count(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 144 {
shimniok 0:a6a169de725f 145 generic_16bit r;
shimniok 0:a6a169de725f 146 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 147 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 148 return (uint16_t)r.s;
shimniok 0:a6a169de725f 149 }
shimniok 0:a6a169de725f 150
shimniok 0:a6a169de725f 151 /**
shimniok 0:a6a169de725f 152 * @brief Get field spi0_err_count from aux_status message
shimniok 0:a6a169de725f 153 *
shimniok 0:a6a169de725f 154 * @return Number of I2C errors since startup
shimniok 0:a6a169de725f 155 */
shimniok 0:a6a169de725f 156 static inline uint16_t mavlink_msg_aux_status_get_spi0_err_count(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 157 {
shimniok 0:a6a169de725f 158 generic_16bit r;
shimniok 0:a6a169de725f 159 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 160 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 161 return (uint16_t)r.s;
shimniok 0:a6a169de725f 162 }
shimniok 0:a6a169de725f 163
shimniok 0:a6a169de725f 164 /**
shimniok 0:a6a169de725f 165 * @brief Get field spi1_err_count from aux_status message
shimniok 0:a6a169de725f 166 *
shimniok 0:a6a169de725f 167 * @return Number of I2C errors since startup
shimniok 0:a6a169de725f 168 */
shimniok 0:a6a169de725f 169 static inline uint16_t mavlink_msg_aux_status_get_spi1_err_count(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 170 {
shimniok 0:a6a169de725f 171 generic_16bit r;
shimniok 0:a6a169de725f 172 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 173 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 174 return (uint16_t)r.s;
shimniok 0:a6a169de725f 175 }
shimniok 0:a6a169de725f 176
shimniok 0:a6a169de725f 177 /**
shimniok 0:a6a169de725f 178 * @brief Get field uart_total_err_count from aux_status message
shimniok 0:a6a169de725f 179 *
shimniok 0:a6a169de725f 180 * @return Number of I2C errors since startup
shimniok 0:a6a169de725f 181 */
shimniok 0:a6a169de725f 182 static inline uint16_t mavlink_msg_aux_status_get_uart_total_err_count(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 183 {
shimniok 0:a6a169de725f 184 generic_16bit r;
shimniok 0:a6a169de725f 185 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 186 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 187 return (uint16_t)r.s;
shimniok 0:a6a169de725f 188 }
shimniok 0:a6a169de725f 189
shimniok 0:a6a169de725f 190 /**
shimniok 0:a6a169de725f 191 * @brief Decode a aux_status message into a struct
shimniok 0:a6a169de725f 192 *
shimniok 0:a6a169de725f 193 * @param msg The message to decode
shimniok 0:a6a169de725f 194 * @param aux_status C-struct to decode the message contents into
shimniok 0:a6a169de725f 195 */
shimniok 0:a6a169de725f 196 static inline void mavlink_msg_aux_status_decode(const mavlink_message_t* msg, mavlink_aux_status_t* aux_status)
shimniok 0:a6a169de725f 197 {
shimniok 0:a6a169de725f 198 aux_status->load = mavlink_msg_aux_status_get_load(msg);
shimniok 0:a6a169de725f 199 aux_status->i2c0_err_count = mavlink_msg_aux_status_get_i2c0_err_count(msg);
shimniok 0:a6a169de725f 200 aux_status->i2c1_err_count = mavlink_msg_aux_status_get_i2c1_err_count(msg);
shimniok 0:a6a169de725f 201 aux_status->spi0_err_count = mavlink_msg_aux_status_get_spi0_err_count(msg);
shimniok 0:a6a169de725f 202 aux_status->spi1_err_count = mavlink_msg_aux_status_get_spi1_err_count(msg);
shimniok 0:a6a169de725f 203 aux_status->uart_total_err_count = mavlink_msg_aux_status_get_uart_total_err_count(msg);
shimniok 0:a6a169de725f 204 }