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_system_time.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE SYSTEM_TIME PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_SYSTEM_TIME 2 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_system_time_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 8 | |
shimniok | 0:a6a169de725f | 9 | } mavlink_system_time_t; |
shimniok | 0:a6a169de725f | 10 | |
shimniok | 0:a6a169de725f | 11 | |
shimniok | 0:a6a169de725f | 12 | |
shimniok | 0:a6a169de725f | 13 | /** |
shimniok | 0:a6a169de725f | 14 | * @brief Pack a system_time message |
shimniok | 0:a6a169de725f | 15 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 16 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 17 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 18 | * |
shimniok | 0:a6a169de725f | 19 | * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 20 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 21 | */ |
shimniok | 0:a6a169de725f | 22 | static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec) |
shimniok | 0:a6a169de725f | 23 | { |
shimniok | 0:a6a169de725f | 24 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 25 | msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; |
shimniok | 0:a6a169de725f | 26 | |
shimniok | 0:a6a169de725f | 27 | i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 28 | |
shimniok | 0:a6a169de725f | 29 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 30 | } |
shimniok | 0:a6a169de725f | 31 | |
shimniok | 0:a6a169de725f | 32 | /** |
shimniok | 0:a6a169de725f | 33 | * @brief Pack a system_time message |
shimniok | 0:a6a169de725f | 34 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 35 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 36 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 37 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 38 | * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 39 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 40 | */ |
shimniok | 0:a6a169de725f | 41 | static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec) |
shimniok | 0:a6a169de725f | 42 | { |
shimniok | 0:a6a169de725f | 43 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 44 | msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; |
shimniok | 0:a6a169de725f | 45 | |
shimniok | 0:a6a169de725f | 46 | i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 47 | |
shimniok | 0:a6a169de725f | 48 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 49 | } |
shimniok | 0:a6a169de725f | 50 | |
shimniok | 0:a6a169de725f | 51 | /** |
shimniok | 0:a6a169de725f | 52 | * @brief Encode a system_time struct into a message |
shimniok | 0:a6a169de725f | 53 | * |
shimniok | 0:a6a169de725f | 54 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 55 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 56 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 57 | * @param system_time C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 58 | */ |
shimniok | 0:a6a169de725f | 59 | static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time) |
shimniok | 0:a6a169de725f | 60 | { |
shimniok | 0:a6a169de725f | 61 | return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec); |
shimniok | 0:a6a169de725f | 62 | } |
shimniok | 0:a6a169de725f | 63 | |
shimniok | 0:a6a169de725f | 64 | /** |
shimniok | 0:a6a169de725f | 65 | * @brief Send a system_time message |
shimniok | 0:a6a169de725f | 66 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 67 | * |
shimniok | 0:a6a169de725f | 68 | * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 69 | */ |
shimniok | 0:a6a169de725f | 70 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 71 | |
shimniok | 0:a6a169de725f | 72 | static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec) |
shimniok | 0:a6a169de725f | 73 | { |
shimniok | 0:a6a169de725f | 74 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 75 | mavlink_msg_system_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_usec); |
shimniok | 0:a6a169de725f | 76 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 77 | } |
shimniok | 0:a6a169de725f | 78 | |
shimniok | 0:a6a169de725f | 79 | #endif |
shimniok | 0:a6a169de725f | 80 | // MESSAGE SYSTEM_TIME UNPACKING |
shimniok | 0:a6a169de725f | 81 | |
shimniok | 0:a6a169de725f | 82 | /** |
shimniok | 0:a6a169de725f | 83 | * @brief Get field time_usec from system_time message |
shimniok | 0:a6a169de725f | 84 | * |
shimniok | 0:a6a169de725f | 85 | * @return Timestamp of the master clock in microseconds since UNIX epoch. |
shimniok | 0:a6a169de725f | 86 | */ |
shimniok | 0:a6a169de725f | 87 | static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 88 | { |
shimniok | 0:a6a169de725f | 89 | generic_64bit r; |
shimniok | 0:a6a169de725f | 90 | r.b[7] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 91 | r.b[6] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 92 | r.b[5] = (msg->payload)[2]; |
shimniok | 0:a6a169de725f | 93 | r.b[4] = (msg->payload)[3]; |
shimniok | 0:a6a169de725f | 94 | r.b[3] = (msg->payload)[4]; |
shimniok | 0:a6a169de725f | 95 | r.b[2] = (msg->payload)[5]; |
shimniok | 0:a6a169de725f | 96 | r.b[1] = (msg->payload)[6]; |
shimniok | 0:a6a169de725f | 97 | r.b[0] = (msg->payload)[7]; |
shimniok | 0:a6a169de725f | 98 | return (uint64_t)r.ll; |
shimniok | 0:a6a169de725f | 99 | } |
shimniok | 0:a6a169de725f | 100 | |
shimniok | 0:a6a169de725f | 101 | /** |
shimniok | 0:a6a169de725f | 102 | * @brief Decode a system_time message into a struct |
shimniok | 0:a6a169de725f | 103 | * |
shimniok | 0:a6a169de725f | 104 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 105 | * @param system_time C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 106 | */ |
shimniok | 0:a6a169de725f | 107 | static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time) |
shimniok | 0:a6a169de725f | 108 | { |
shimniok | 0:a6a169de725f | 109 | system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg); |
shimniok | 0:a6a169de725f | 110 | } |