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/common/mavlink_msg_servo_output_raw.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE SERVO_OUTPUT_RAW PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 37
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_servo_output_raw_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 8 uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 9 uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 10 uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 11 uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 12 uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 13 uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 14 uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 } mavlink_servo_output_raw_t;
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 /**
shimniok 0:a6a169de725f 21 * @brief Pack a servo_output_raw message
shimniok 0:a6a169de725f 22 * @param system_id ID of this system
shimniok 0:a6a169de725f 23 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 24 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 25 *
shimniok 0:a6a169de725f 26 * @param servo1_raw Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 27 * @param servo2_raw Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 28 * @param servo3_raw Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 29 * @param servo4_raw Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 30 * @param servo5_raw Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 31 * @param servo6_raw Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 32 * @param servo7_raw Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 33 * @param servo8_raw Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 34 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 35 */
shimniok 0:a6a169de725f 36 static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
shimniok 0:a6a169de725f 37 {
shimniok 0:a6a169de725f 38 uint16_t i = 0;
shimniok 0:a6a169de725f 39 msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 i += put_uint16_t_by_index(servo1_raw, i, msg->payload); // Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 42 i += put_uint16_t_by_index(servo2_raw, i, msg->payload); // Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 43 i += put_uint16_t_by_index(servo3_raw, i, msg->payload); // Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 44 i += put_uint16_t_by_index(servo4_raw, i, msg->payload); // Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 45 i += put_uint16_t_by_index(servo5_raw, i, msg->payload); // Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 46 i += put_uint16_t_by_index(servo6_raw, i, msg->payload); // Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 47 i += put_uint16_t_by_index(servo7_raw, i, msg->payload); // Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 48 i += put_uint16_t_by_index(servo8_raw, i, msg->payload); // Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 51 }
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 /**
shimniok 0:a6a169de725f 54 * @brief Pack a servo_output_raw message
shimniok 0:a6a169de725f 55 * @param system_id ID of this system
shimniok 0:a6a169de725f 56 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 57 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 58 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 59 * @param servo1_raw Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 60 * @param servo2_raw Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 61 * @param servo3_raw Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 62 * @param servo4_raw Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 63 * @param servo5_raw Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 64 * @param servo6_raw Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 65 * @param servo7_raw Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 66 * @param servo8_raw Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 67 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 68 */
shimniok 0:a6a169de725f 69 static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
shimniok 0:a6a169de725f 70 {
shimniok 0:a6a169de725f 71 uint16_t i = 0;
shimniok 0:a6a169de725f 72 msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
shimniok 0:a6a169de725f 73
shimniok 0:a6a169de725f 74 i += put_uint16_t_by_index(servo1_raw, i, msg->payload); // Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 75 i += put_uint16_t_by_index(servo2_raw, i, msg->payload); // Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 76 i += put_uint16_t_by_index(servo3_raw, i, msg->payload); // Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 77 i += put_uint16_t_by_index(servo4_raw, i, msg->payload); // Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 78 i += put_uint16_t_by_index(servo5_raw, i, msg->payload); // Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 79 i += put_uint16_t_by_index(servo6_raw, i, msg->payload); // Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 80 i += put_uint16_t_by_index(servo7_raw, i, msg->payload); // Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 81 i += put_uint16_t_by_index(servo8_raw, i, msg->payload); // Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 82
shimniok 0:a6a169de725f 83 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 84 }
shimniok 0:a6a169de725f 85
shimniok 0:a6a169de725f 86 /**
shimniok 0:a6a169de725f 87 * @brief Encode a servo_output_raw struct into a message
shimniok 0:a6a169de725f 88 *
shimniok 0:a6a169de725f 89 * @param system_id ID of this system
shimniok 0:a6a169de725f 90 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 91 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 92 * @param servo_output_raw C-struct to read the message contents from
shimniok 0:a6a169de725f 93 */
shimniok 0:a6a169de725f 94 static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
shimniok 0:a6a169de725f 95 {
shimniok 0:a6a169de725f 96 return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
shimniok 0:a6a169de725f 97 }
shimniok 0:a6a169de725f 98
shimniok 0:a6a169de725f 99 /**
shimniok 0:a6a169de725f 100 * @brief Send a servo_output_raw message
shimniok 0:a6a169de725f 101 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 102 *
shimniok 0:a6a169de725f 103 * @param servo1_raw Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 104 * @param servo2_raw Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 105 * @param servo3_raw Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 106 * @param servo4_raw Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 107 * @param servo5_raw Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 108 * @param servo6_raw Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 109 * @param servo7_raw Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 110 * @param servo8_raw Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 111 */
shimniok 0:a6a169de725f 112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
shimniok 0:a6a169de725f 115 {
shimniok 0:a6a169de725f 116 mavlink_message_t msg;
shimniok 0:a6a169de725f 117 mavlink_msg_servo_output_raw_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw);
shimniok 0:a6a169de725f 118 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120
shimniok 0:a6a169de725f 121 #endif
shimniok 0:a6a169de725f 122 // MESSAGE SERVO_OUTPUT_RAW UNPACKING
shimniok 0:a6a169de725f 123
shimniok 0:a6a169de725f 124 /**
shimniok 0:a6a169de725f 125 * @brief Get field servo1_raw from servo_output_raw message
shimniok 0:a6a169de725f 126 *
shimniok 0:a6a169de725f 127 * @return Servo output 1 value, in microseconds
shimniok 0:a6a169de725f 128 */
shimniok 0:a6a169de725f 129 static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 130 {
shimniok 0:a6a169de725f 131 generic_16bit r;
shimniok 0:a6a169de725f 132 r.b[1] = (msg->payload)[0];
shimniok 0:a6a169de725f 133 r.b[0] = (msg->payload)[1];
shimniok 0:a6a169de725f 134 return (uint16_t)r.s;
shimniok 0:a6a169de725f 135 }
shimniok 0:a6a169de725f 136
shimniok 0:a6a169de725f 137 /**
shimniok 0:a6a169de725f 138 * @brief Get field servo2_raw from servo_output_raw message
shimniok 0:a6a169de725f 139 *
shimniok 0:a6a169de725f 140 * @return Servo output 2 value, in microseconds
shimniok 0:a6a169de725f 141 */
shimniok 0:a6a169de725f 142 static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 143 {
shimniok 0:a6a169de725f 144 generic_16bit r;
shimniok 0:a6a169de725f 145 r.b[1] = (msg->payload+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 146 r.b[0] = (msg->payload+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 147 return (uint16_t)r.s;
shimniok 0:a6a169de725f 148 }
shimniok 0:a6a169de725f 149
shimniok 0:a6a169de725f 150 /**
shimniok 0:a6a169de725f 151 * @brief Get field servo3_raw from servo_output_raw message
shimniok 0:a6a169de725f 152 *
shimniok 0:a6a169de725f 153 * @return Servo output 3 value, in microseconds
shimniok 0:a6a169de725f 154 */
shimniok 0:a6a169de725f 155 static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 156 {
shimniok 0:a6a169de725f 157 generic_16bit r;
shimniok 0:a6a169de725f 158 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 159 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 160 return (uint16_t)r.s;
shimniok 0:a6a169de725f 161 }
shimniok 0:a6a169de725f 162
shimniok 0:a6a169de725f 163 /**
shimniok 0:a6a169de725f 164 * @brief Get field servo4_raw from servo_output_raw message
shimniok 0:a6a169de725f 165 *
shimniok 0:a6a169de725f 166 * @return Servo output 4 value, in microseconds
shimniok 0:a6a169de725f 167 */
shimniok 0:a6a169de725f 168 static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 169 {
shimniok 0:a6a169de725f 170 generic_16bit r;
shimniok 0:a6a169de725f 171 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 172 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 173 return (uint16_t)r.s;
shimniok 0:a6a169de725f 174 }
shimniok 0:a6a169de725f 175
shimniok 0:a6a169de725f 176 /**
shimniok 0:a6a169de725f 177 * @brief Get field servo5_raw from servo_output_raw message
shimniok 0:a6a169de725f 178 *
shimniok 0:a6a169de725f 179 * @return Servo output 5 value, in microseconds
shimniok 0:a6a169de725f 180 */
shimniok 0:a6a169de725f 181 static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 182 {
shimniok 0:a6a169de725f 183 generic_16bit r;
shimniok 0:a6a169de725f 184 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 185 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 186 return (uint16_t)r.s;
shimniok 0:a6a169de725f 187 }
shimniok 0:a6a169de725f 188
shimniok 0:a6a169de725f 189 /**
shimniok 0:a6a169de725f 190 * @brief Get field servo6_raw from servo_output_raw message
shimniok 0:a6a169de725f 191 *
shimniok 0:a6a169de725f 192 * @return Servo output 6 value, in microseconds
shimniok 0:a6a169de725f 193 */
shimniok 0:a6a169de725f 194 static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 195 {
shimniok 0:a6a169de725f 196 generic_16bit r;
shimniok 0:a6a169de725f 197 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 198 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 199 return (uint16_t)r.s;
shimniok 0:a6a169de725f 200 }
shimniok 0:a6a169de725f 201
shimniok 0:a6a169de725f 202 /**
shimniok 0:a6a169de725f 203 * @brief Get field servo7_raw from servo_output_raw message
shimniok 0:a6a169de725f 204 *
shimniok 0:a6a169de725f 205 * @return Servo output 7 value, in microseconds
shimniok 0:a6a169de725f 206 */
shimniok 0:a6a169de725f 207 static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 208 {
shimniok 0:a6a169de725f 209 generic_16bit r;
shimniok 0:a6a169de725f 210 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 211 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 212 return (uint16_t)r.s;
shimniok 0:a6a169de725f 213 }
shimniok 0:a6a169de725f 214
shimniok 0:a6a169de725f 215 /**
shimniok 0:a6a169de725f 216 * @brief Get field servo8_raw from servo_output_raw message
shimniok 0:a6a169de725f 217 *
shimniok 0:a6a169de725f 218 * @return Servo output 8 value, in microseconds
shimniok 0:a6a169de725f 219 */
shimniok 0:a6a169de725f 220 static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 221 {
shimniok 0:a6a169de725f 222 generic_16bit r;
shimniok 0:a6a169de725f 223 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 224 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:a6a169de725f 225 return (uint16_t)r.s;
shimniok 0:a6a169de725f 226 }
shimniok 0:a6a169de725f 227
shimniok 0:a6a169de725f 228 /**
shimniok 0:a6a169de725f 229 * @brief Decode a servo_output_raw message into a struct
shimniok 0:a6a169de725f 230 *
shimniok 0:a6a169de725f 231 * @param msg The message to decode
shimniok 0:a6a169de725f 232 * @param servo_output_raw C-struct to decode the message contents into
shimniok 0:a6a169de725f 233 */
shimniok 0:a6a169de725f 234 static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t* msg, mavlink_servo_output_raw_t* servo_output_raw)
shimniok 0:a6a169de725f 235 {
shimniok 0:a6a169de725f 236 servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
shimniok 0:a6a169de725f 237 servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
shimniok 0:a6a169de725f 238 servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
shimniok 0:a6a169de725f 239 servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
shimniok 0:a6a169de725f 240 servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
shimniok 0:a6a169de725f 241 servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
shimniok 0:a6a169de725f 242 servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
shimniok 0:a6a169de725f 243 servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
shimniok 0:a6a169de725f 244 }