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_watchdog_command.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 WATCHDOG_COMMAND PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_WATCHDOG_COMMAND 153
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_watchdog_command_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target_system_id; ///< Target system ID
shimniok 0:a6a169de725f 8 uint16_t watchdog_id; ///< Watchdog ID
shimniok 0:a6a169de725f 9 uint16_t process_id; ///< Process ID
shimniok 0:a6a169de725f 10 uint8_t command_id; ///< Command ID
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12 } mavlink_watchdog_command_t;
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 /**
shimniok 0:a6a169de725f 17 * @brief Pack a watchdog_command 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 target_system_id Target system ID
shimniok 0:a6a169de725f 23 * @param watchdog_id Watchdog ID
shimniok 0:a6a169de725f 24 * @param process_id Process ID
shimniok 0:a6a169de725f 25 * @param command_id Command ID
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_watchdog_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
shimniok 0:a6a169de725f 29 {
shimniok 0:a6a169de725f 30 uint16_t i = 0;
shimniok 0:a6a169de725f 31 msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND;
shimniok 0:a6a169de725f 32
shimniok 0:a6a169de725f 33 i += put_uint8_t_by_index(target_system_id, i, msg->payload); // Target system ID
shimniok 0:a6a169de725f 34 i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID
shimniok 0:a6a169de725f 35 i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID
shimniok 0:a6a169de725f 36 i += put_uint8_t_by_index(command_id, i, msg->payload); // Command ID
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 watchdog_command 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 target_system_id Target system ID
shimniok 0:a6a169de725f 48 * @param watchdog_id Watchdog ID
shimniok 0:a6a169de725f 49 * @param process_id Process ID
shimniok 0:a6a169de725f 50 * @param command_id Command ID
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_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
shimniok 0:a6a169de725f 54 {
shimniok 0:a6a169de725f 55 uint16_t i = 0;
shimniok 0:a6a169de725f 56 msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND;
shimniok 0:a6a169de725f 57
shimniok 0:a6a169de725f 58 i += put_uint8_t_by_index(target_system_id, i, msg->payload); // Target system ID
shimniok 0:a6a169de725f 59 i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID
shimniok 0:a6a169de725f 60 i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID
shimniok 0:a6a169de725f 61 i += put_uint8_t_by_index(command_id, i, msg->payload); // Command ID
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 watchdog_command 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 watchdog_command C-struct to read the message contents from
shimniok 0:a6a169de725f 73 */
shimniok 0:a6a169de725f 74 static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_command_t* watchdog_command)
shimniok 0:a6a169de725f 75 {
shimniok 0:a6a169de725f 76 return mavlink_msg_watchdog_command_pack(system_id, component_id, msg, watchdog_command->target_system_id, watchdog_command->watchdog_id, watchdog_command->process_id, watchdog_command->command_id);
shimniok 0:a6a169de725f 77 }
shimniok 0:a6a169de725f 78
shimniok 0:a6a169de725f 79 /**
shimniok 0:a6a169de725f 80 * @brief Send a watchdog_command message
shimniok 0:a6a169de725f 81 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 82 *
shimniok 0:a6a169de725f 83 * @param target_system_id Target system ID
shimniok 0:a6a169de725f 84 * @param watchdog_id Watchdog ID
shimniok 0:a6a169de725f 85 * @param process_id Process ID
shimniok 0:a6a169de725f 86 * @param command_id Command ID
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_watchdog_command_send(mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
shimniok 0:a6a169de725f 91 {
shimniok 0:a6a169de725f 92 mavlink_message_t msg;
shimniok 0:a6a169de725f 93 mavlink_msg_watchdog_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system_id, watchdog_id, process_id, command_id);
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 WATCHDOG_COMMAND UNPACKING
shimniok 0:a6a169de725f 99
shimniok 0:a6a169de725f 100 /**
shimniok 0:a6a169de725f 101 * @brief Get field target_system_id from watchdog_command message
shimniok 0:a6a169de725f 102 *
shimniok 0:a6a169de725f 103 * @return Target system ID
shimniok 0:a6a169de725f 104 */
shimniok 0:a6a169de725f 105 static inline uint8_t mavlink_msg_watchdog_command_get_target_system_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 106 {
shimniok 0:a6a169de725f 107 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 108 }
shimniok 0:a6a169de725f 109
shimniok 0:a6a169de725f 110 /**
shimniok 0:a6a169de725f 111 * @brief Get field watchdog_id from watchdog_command message
shimniok 0:a6a169de725f 112 *
shimniok 0:a6a169de725f 113 * @return Watchdog ID
shimniok 0:a6a169de725f 114 */
shimniok 0:a6a169de725f 115 static inline uint16_t mavlink_msg_watchdog_command_get_watchdog_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 116 {
shimniok 0:a6a169de725f 117 generic_16bit r;
shimniok 0:a6a169de725f 118 r.b[1] = (msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 119 r.b[0] = (msg->payload+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 120 return (uint16_t)r.s;
shimniok 0:a6a169de725f 121 }
shimniok 0:a6a169de725f 122
shimniok 0:a6a169de725f 123 /**
shimniok 0:a6a169de725f 124 * @brief Get field process_id from watchdog_command message
shimniok 0:a6a169de725f 125 *
shimniok 0:a6a169de725f 126 * @return Process ID
shimniok 0:a6a169de725f 127 */
shimniok 0:a6a169de725f 128 static inline uint16_t mavlink_msg_watchdog_command_get_process_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 129 {
shimniok 0:a6a169de725f 130 generic_16bit r;
shimniok 0:a6a169de725f 131 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 132 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 133 return (uint16_t)r.s;
shimniok 0:a6a169de725f 134 }
shimniok 0:a6a169de725f 135
shimniok 0:a6a169de725f 136 /**
shimniok 0:a6a169de725f 137 * @brief Get field command_id from watchdog_command message
shimniok 0:a6a169de725f 138 *
shimniok 0:a6a169de725f 139 * @return Command ID
shimniok 0:a6a169de725f 140 */
shimniok 0:a6a169de725f 141 static inline uint8_t mavlink_msg_watchdog_command_get_command_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 142 {
shimniok 0:a6a169de725f 143 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 144 }
shimniok 0:a6a169de725f 145
shimniok 0:a6a169de725f 146 /**
shimniok 0:a6a169de725f 147 * @brief Decode a watchdog_command message into a struct
shimniok 0:a6a169de725f 148 *
shimniok 0:a6a169de725f 149 * @param msg The message to decode
shimniok 0:a6a169de725f 150 * @param watchdog_command C-struct to decode the message contents into
shimniok 0:a6a169de725f 151 */
shimniok 0:a6a169de725f 152 static inline void mavlink_msg_watchdog_command_decode(const mavlink_message_t* msg, mavlink_watchdog_command_t* watchdog_command)
shimniok 0:a6a169de725f 153 {
shimniok 0:a6a169de725f 154 watchdog_command->target_system_id = mavlink_msg_watchdog_command_get_target_system_id(msg);
shimniok 0:a6a169de725f 155 watchdog_command->watchdog_id = mavlink_msg_watchdog_command_get_watchdog_id(msg);
shimniok 0:a6a169de725f 156 watchdog_command->process_id = mavlink_msg_watchdog_command_get_process_id(msg);
shimniok 0:a6a169de725f 157 watchdog_command->command_id = mavlink_msg_watchdog_command_get_command_id(msg);
shimniok 0:a6a169de725f 158 }