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_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 WATCHDOG_HEARTBEAT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 150
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_watchdog_heartbeat_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint16_t watchdog_id; ///< Watchdog ID
shimniok 0:a6a169de725f 8 uint16_t process_count; ///< Number of processes
shimniok 0:a6a169de725f 9
shimniok 0:a6a169de725f 10 } mavlink_watchdog_heartbeat_t;
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 /**
shimniok 0:a6a169de725f 15 * @brief Pack a watchdog_heartbeat message
shimniok 0:a6a169de725f 16 * @param system_id ID of this system
shimniok 0:a6a169de725f 17 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 18 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 19 *
shimniok 0:a6a169de725f 20 * @param watchdog_id Watchdog ID
shimniok 0:a6a169de725f 21 * @param process_count Number of processes
shimniok 0:a6a169de725f 22 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 23 */
shimniok 0:a6a169de725f 24 static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count)
shimniok 0:a6a169de725f 25 {
shimniok 0:a6a169de725f 26 uint16_t i = 0;
shimniok 0:a6a169de725f 27 msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT;
shimniok 0:a6a169de725f 28
shimniok 0:a6a169de725f 29 i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID
shimniok 0:a6a169de725f 30 i += put_uint16_t_by_index(process_count, i, msg->payload); // Number of processes
shimniok 0:a6a169de725f 31
shimniok 0:a6a169de725f 32 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 33 }
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 /**
shimniok 0:a6a169de725f 36 * @brief Pack a watchdog_heartbeat message
shimniok 0:a6a169de725f 37 * @param system_id ID of this system
shimniok 0:a6a169de725f 38 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 39 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 40 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 41 * @param watchdog_id Watchdog ID
shimniok 0:a6a169de725f 42 * @param process_count Number of processes
shimniok 0:a6a169de725f 43 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 44 */
shimniok 0:a6a169de725f 45 static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count)
shimniok 0:a6a169de725f 46 {
shimniok 0:a6a169de725f 47 uint16_t i = 0;
shimniok 0:a6a169de725f 48 msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT;
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID
shimniok 0:a6a169de725f 51 i += put_uint16_t_by_index(process_count, i, msg->payload); // Number of processes
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 54 }
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 /**
shimniok 0:a6a169de725f 57 * @brief Encode a watchdog_heartbeat struct into a message
shimniok 0:a6a169de725f 58 *
shimniok 0:a6a169de725f 59 * @param system_id ID of this system
shimniok 0:a6a169de725f 60 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 61 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 62 * @param watchdog_heartbeat C-struct to read the message contents from
shimniok 0:a6a169de725f 63 */
shimniok 0:a6a169de725f 64 static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat)
shimniok 0:a6a169de725f 65 {
shimniok 0:a6a169de725f 66 return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count);
shimniok 0:a6a169de725f 67 }
shimniok 0:a6a169de725f 68
shimniok 0:a6a169de725f 69 /**
shimniok 0:a6a169de725f 70 * @brief Send a watchdog_heartbeat message
shimniok 0:a6a169de725f 71 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 72 *
shimniok 0:a6a169de725f 73 * @param watchdog_id Watchdog ID
shimniok 0:a6a169de725f 74 * @param process_count Number of processes
shimniok 0:a6a169de725f 75 */
shimniok 0:a6a169de725f 76 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count)
shimniok 0:a6a169de725f 79 {
shimniok 0:a6a169de725f 80 mavlink_message_t msg;
shimniok 0:a6a169de725f 81 mavlink_msg_watchdog_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_count);
shimniok 0:a6a169de725f 82 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 83 }
shimniok 0:a6a169de725f 84
shimniok 0:a6a169de725f 85 #endif
shimniok 0:a6a169de725f 86 // MESSAGE WATCHDOG_HEARTBEAT UNPACKING
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 /**
shimniok 0:a6a169de725f 89 * @brief Get field watchdog_id from watchdog_heartbeat message
shimniok 0:a6a169de725f 90 *
shimniok 0:a6a169de725f 91 * @return Watchdog ID
shimniok 0:a6a169de725f 92 */
shimniok 0:a6a169de725f 93 static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 94 {
shimniok 0:a6a169de725f 95 generic_16bit r;
shimniok 0:a6a169de725f 96 r.b[1] = (msg->payload)[0];
shimniok 0:a6a169de725f 97 r.b[0] = (msg->payload)[1];
shimniok 0:a6a169de725f 98 return (uint16_t)r.s;
shimniok 0:a6a169de725f 99 }
shimniok 0:a6a169de725f 100
shimniok 0:a6a169de725f 101 /**
shimniok 0:a6a169de725f 102 * @brief Get field process_count from watchdog_heartbeat message
shimniok 0:a6a169de725f 103 *
shimniok 0:a6a169de725f 104 * @return Number of processes
shimniok 0:a6a169de725f 105 */
shimniok 0:a6a169de725f 106 static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 107 {
shimniok 0:a6a169de725f 108 generic_16bit r;
shimniok 0:a6a169de725f 109 r.b[1] = (msg->payload+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 110 r.b[0] = (msg->payload+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 111 return (uint16_t)r.s;
shimniok 0:a6a169de725f 112 }
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 /**
shimniok 0:a6a169de725f 115 * @brief Decode a watchdog_heartbeat message into a struct
shimniok 0:a6a169de725f 116 *
shimniok 0:a6a169de725f 117 * @param msg The message to decode
shimniok 0:a6a169de725f 118 * @param watchdog_heartbeat C-struct to decode the message contents into
shimniok 0:a6a169de725f 119 */
shimniok 0:a6a169de725f 120 static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat)
shimniok 0:a6a169de725f 121 {
shimniok 0:a6a169de725f 122 watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg);
shimniok 0:a6a169de725f 123 watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg);
shimniok 0:a6a169de725f 124 }