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_system_time_utc.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 SYSTEM_TIME_UTC PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_SYSTEM_TIME_UTC 4
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_system_time_utc_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint32_t utc_date; ///< GPS UTC date ddmmyy
shimniok 0:a6a169de725f 8 uint32_t utc_time; ///< GPS UTC time hhmmss
shimniok 0:a6a169de725f 9
shimniok 0:a6a169de725f 10 } mavlink_system_time_utc_t;
shimniok 0:a6a169de725f 11
shimniok 0:a6a169de725f 12
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 /**
shimniok 0:a6a169de725f 15 * @brief Pack a system_time_utc 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 utc_date GPS UTC date ddmmyy
shimniok 0:a6a169de725f 21 * @param utc_time GPS UTC time hhmmss
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_system_time_utc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t utc_date, uint32_t utc_time)
shimniok 0:a6a169de725f 25 {
shimniok 0:a6a169de725f 26 uint16_t i = 0;
shimniok 0:a6a169de725f 27 msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC;
shimniok 0:a6a169de725f 28
shimniok 0:a6a169de725f 29 i += put_uint32_t_by_index(utc_date, i, msg->payload); // GPS UTC date ddmmyy
shimniok 0:a6a169de725f 30 i += put_uint32_t_by_index(utc_time, i, msg->payload); // GPS UTC time hhmmss
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 system_time_utc 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 utc_date GPS UTC date ddmmyy
shimniok 0:a6a169de725f 42 * @param utc_time GPS UTC time hhmmss
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_system_time_utc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t utc_date, uint32_t utc_time)
shimniok 0:a6a169de725f 46 {
shimniok 0:a6a169de725f 47 uint16_t i = 0;
shimniok 0:a6a169de725f 48 msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME_UTC;
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 i += put_uint32_t_by_index(utc_date, i, msg->payload); // GPS UTC date ddmmyy
shimniok 0:a6a169de725f 51 i += put_uint32_t_by_index(utc_time, i, msg->payload); // GPS UTC time hhmmss
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 system_time_utc 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 system_time_utc C-struct to read the message contents from
shimniok 0:a6a169de725f 63 */
shimniok 0:a6a169de725f 64 static inline uint16_t mavlink_msg_system_time_utc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_utc_t* system_time_utc)
shimniok 0:a6a169de725f 65 {
shimniok 0:a6a169de725f 66 return mavlink_msg_system_time_utc_pack(system_id, component_id, msg, system_time_utc->utc_date, system_time_utc->utc_time);
shimniok 0:a6a169de725f 67 }
shimniok 0:a6a169de725f 68
shimniok 0:a6a169de725f 69 /**
shimniok 0:a6a169de725f 70 * @brief Send a system_time_utc message
shimniok 0:a6a169de725f 71 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 72 *
shimniok 0:a6a169de725f 73 * @param utc_date GPS UTC date ddmmyy
shimniok 0:a6a169de725f 74 * @param utc_time GPS UTC time hhmmss
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_system_time_utc_send(mavlink_channel_t chan, uint32_t utc_date, uint32_t utc_time)
shimniok 0:a6a169de725f 79 {
shimniok 0:a6a169de725f 80 mavlink_message_t msg;
shimniok 0:a6a169de725f 81 mavlink_msg_system_time_utc_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, utc_date, utc_time);
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 SYSTEM_TIME_UTC UNPACKING
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 /**
shimniok 0:a6a169de725f 89 * @brief Get field utc_date from system_time_utc message
shimniok 0:a6a169de725f 90 *
shimniok 0:a6a169de725f 91 * @return GPS UTC date ddmmyy
shimniok 0:a6a169de725f 92 */
shimniok 0:a6a169de725f 93 static inline uint32_t mavlink_msg_system_time_utc_get_utc_date(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 94 {
shimniok 0:a6a169de725f 95 generic_32bit r;
shimniok 0:a6a169de725f 96 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 97 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 98 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 99 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 100 return (uint32_t)r.i;
shimniok 0:a6a169de725f 101 }
shimniok 0:a6a169de725f 102
shimniok 0:a6a169de725f 103 /**
shimniok 0:a6a169de725f 104 * @brief Get field utc_time from system_time_utc message
shimniok 0:a6a169de725f 105 *
shimniok 0:a6a169de725f 106 * @return GPS UTC time hhmmss
shimniok 0:a6a169de725f 107 */
shimniok 0:a6a169de725f 108 static inline uint32_t mavlink_msg_system_time_utc_get_utc_time(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 109 {
shimniok 0:a6a169de725f 110 generic_32bit r;
shimniok 0:a6a169de725f 111 r.b[3] = (msg->payload+sizeof(uint32_t))[0];
shimniok 0:a6a169de725f 112 r.b[2] = (msg->payload+sizeof(uint32_t))[1];
shimniok 0:a6a169de725f 113 r.b[1] = (msg->payload+sizeof(uint32_t))[2];
shimniok 0:a6a169de725f 114 r.b[0] = (msg->payload+sizeof(uint32_t))[3];
shimniok 0:a6a169de725f 115 return (uint32_t)r.i;
shimniok 0:a6a169de725f 116 }
shimniok 0:a6a169de725f 117
shimniok 0:a6a169de725f 118 /**
shimniok 0:a6a169de725f 119 * @brief Decode a system_time_utc message into a struct
shimniok 0:a6a169de725f 120 *
shimniok 0:a6a169de725f 121 * @param msg The message to decode
shimniok 0:a6a169de725f 122 * @param system_time_utc C-struct to decode the message contents into
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 static inline void mavlink_msg_system_time_utc_decode(const mavlink_message_t* msg, mavlink_system_time_utc_t* system_time_utc)
shimniok 0:a6a169de725f 125 {
shimniok 0:a6a169de725f 126 system_time_utc->utc_date = mavlink_msg_system_time_utc_get_utc_date(msg);
shimniok 0:a6a169de725f 127 system_time_utc->utc_time = mavlink_msg_system_time_utc_get_utc_time(msg);
shimniok 0:a6a169de725f 128 }