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_data_transmission_handshake.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 DATA_TRANSMISSION_HANDSHAKE PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 170
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_data_transmission_handshake_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 8 uint32_t size; ///< total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 9 uint8_t packets; ///< number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 10 uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 11 uint8_t jpg_quality; ///< JPEG quality out of [1,100]
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13 } mavlink_data_transmission_handshake_t;
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17 /**
shimniok 0:a6a169de725f 18 * @brief Pack a data_transmission_handshake message
shimniok 0:a6a169de725f 19 * @param system_id ID of this system
shimniok 0:a6a169de725f 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 21 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 22 *
shimniok 0:a6a169de725f 23 * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 24 * @param size total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 25 * @param packets number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 26 * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 27 * @param jpg_quality JPEG quality out of [1,100]
shimniok 0:a6a169de725f 28 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 29 */
shimniok 0:a6a169de725f 30 static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
shimniok 0:a6a169de725f 31 {
shimniok 0:a6a169de725f 32 uint16_t i = 0;
shimniok 0:a6a169de725f 33 msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 i += put_uint8_t_by_index(type, i, msg->payload); // type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 36 i += put_uint32_t_by_index(size, i, msg->payload); // total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 37 i += put_uint8_t_by_index(packets, i, msg->payload); // number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 38 i += put_uint8_t_by_index(payload, i, msg->payload); // payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 39 i += put_uint8_t_by_index(jpg_quality, i, msg->payload); // JPEG quality out of [1,100]
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 42 }
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 /**
shimniok 0:a6a169de725f 45 * @brief Pack a data_transmission_handshake message
shimniok 0:a6a169de725f 46 * @param system_id ID of this system
shimniok 0:a6a169de725f 47 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 48 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 49 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 50 * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 51 * @param size total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 52 * @param packets number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 53 * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 54 * @param jpg_quality JPEG quality out of [1,100]
shimniok 0:a6a169de725f 55 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 56 */
shimniok 0:a6a169de725f 57 static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
shimniok 0:a6a169de725f 58 {
shimniok 0:a6a169de725f 59 uint16_t i = 0;
shimniok 0:a6a169de725f 60 msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
shimniok 0:a6a169de725f 61
shimniok 0:a6a169de725f 62 i += put_uint8_t_by_index(type, i, msg->payload); // type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 63 i += put_uint32_t_by_index(size, i, msg->payload); // total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 64 i += put_uint8_t_by_index(packets, i, msg->payload); // number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 65 i += put_uint8_t_by_index(payload, i, msg->payload); // payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 66 i += put_uint8_t_by_index(jpg_quality, i, msg->payload); // JPEG quality out of [1,100]
shimniok 0:a6a169de725f 67
shimniok 0:a6a169de725f 68 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 69 }
shimniok 0:a6a169de725f 70
shimniok 0:a6a169de725f 71 /**
shimniok 0:a6a169de725f 72 * @brief Encode a data_transmission_handshake struct into a message
shimniok 0:a6a169de725f 73 *
shimniok 0:a6a169de725f 74 * @param system_id ID of this system
shimniok 0:a6a169de725f 75 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 76 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 77 * @param data_transmission_handshake C-struct to read the message contents from
shimniok 0:a6a169de725f 78 */
shimniok 0:a6a169de725f 79 static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake)
shimniok 0:a6a169de725f 80 {
shimniok 0:a6a169de725f 81 return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality);
shimniok 0:a6a169de725f 82 }
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 /**
shimniok 0:a6a169de725f 85 * @brief Send a data_transmission_handshake message
shimniok 0:a6a169de725f 86 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 87 *
shimniok 0:a6a169de725f 88 * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 89 * @param size total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 90 * @param packets number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 91 * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 92 * @param jpg_quality JPEG quality out of [1,100]
shimniok 0:a6a169de725f 93 */
shimniok 0:a6a169de725f 94 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 95
shimniok 0:a6a169de725f 96 static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint8_t packets, uint8_t payload, uint8_t jpg_quality)
shimniok 0:a6a169de725f 97 {
shimniok 0:a6a169de725f 98 mavlink_message_t msg;
shimniok 0:a6a169de725f 99 mavlink_msg_data_transmission_handshake_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, type, size, packets, payload, jpg_quality);
shimniok 0:a6a169de725f 100 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 101 }
shimniok 0:a6a169de725f 102
shimniok 0:a6a169de725f 103 #endif
shimniok 0:a6a169de725f 104 // MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING
shimniok 0:a6a169de725f 105
shimniok 0:a6a169de725f 106 /**
shimniok 0:a6a169de725f 107 * @brief Get field type from data_transmission_handshake message
shimniok 0:a6a169de725f 108 *
shimniok 0:a6a169de725f 109 * @return type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
shimniok 0:a6a169de725f 110 */
shimniok 0:a6a169de725f 111 static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 112 {
shimniok 0:a6a169de725f 113 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 114 }
shimniok 0:a6a169de725f 115
shimniok 0:a6a169de725f 116 /**
shimniok 0:a6a169de725f 117 * @brief Get field size from data_transmission_handshake message
shimniok 0:a6a169de725f 118 *
shimniok 0:a6a169de725f 119 * @return total data size in bytes (set on ACK only)
shimniok 0:a6a169de725f 120 */
shimniok 0:a6a169de725f 121 static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 122 {
shimniok 0:a6a169de725f 123 generic_32bit r;
shimniok 0:a6a169de725f 124 r.b[3] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 125 r.b[2] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 126 r.b[1] = (msg->payload+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 127 r.b[0] = (msg->payload+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 128 return (uint32_t)r.i;
shimniok 0:a6a169de725f 129 }
shimniok 0:a6a169de725f 130
shimniok 0:a6a169de725f 131 /**
shimniok 0:a6a169de725f 132 * @brief Get field packets from data_transmission_handshake message
shimniok 0:a6a169de725f 133 *
shimniok 0:a6a169de725f 134 * @return number of packets beeing sent (set on ACK only)
shimniok 0:a6a169de725f 135 */
shimniok 0:a6a169de725f 136 static inline uint8_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 137 {
shimniok 0:a6a169de725f 138 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t))[0];
shimniok 0:a6a169de725f 139 }
shimniok 0:a6a169de725f 140
shimniok 0:a6a169de725f 141 /**
shimniok 0:a6a169de725f 142 * @brief Get field payload from data_transmission_handshake message
shimniok 0:a6a169de725f 143 *
shimniok 0:a6a169de725f 144 * @return payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
shimniok 0:a6a169de725f 145 */
shimniok 0:a6a169de725f 146 static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 147 {
shimniok 0:a6a169de725f 148 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 149 }
shimniok 0:a6a169de725f 150
shimniok 0:a6a169de725f 151 /**
shimniok 0:a6a169de725f 152 * @brief Get field jpg_quality from data_transmission_handshake message
shimniok 0:a6a169de725f 153 *
shimniok 0:a6a169de725f 154 * @return JPEG quality out of [1,100]
shimniok 0:a6a169de725f 155 */
shimniok 0:a6a169de725f 156 static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 157 {
shimniok 0:a6a169de725f 158 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 159 }
shimniok 0:a6a169de725f 160
shimniok 0:a6a169de725f 161 /**
shimniok 0:a6a169de725f 162 * @brief Decode a data_transmission_handshake message into a struct
shimniok 0:a6a169de725f 163 *
shimniok 0:a6a169de725f 164 * @param msg The message to decode
shimniok 0:a6a169de725f 165 * @param data_transmission_handshake C-struct to decode the message contents into
shimniok 0:a6a169de725f 166 */
shimniok 0:a6a169de725f 167 static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_message_t* msg, mavlink_data_transmission_handshake_t* data_transmission_handshake)
shimniok 0:a6a169de725f 168 {
shimniok 0:a6a169de725f 169 data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg);
shimniok 0:a6a169de725f 170 data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg);
shimniok 0:a6a169de725f 171 data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg);
shimniok 0:a6a169de725f 172 data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg);
shimniok 0:a6a169de725f 173 data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg);
shimniok 0:a6a169de725f 174 }