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
Diff: MAVlink/include/common/mavlink_msg_param_value.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_param_value.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,166 @@ +// MESSAGE PARAM_VALUE PACKING + +#define MAVLINK_MSG_ID_PARAM_VALUE 22 + +typedef struct __mavlink_param_value_t +{ + int8_t param_id[15]; ///< Onboard parameter id + float param_value; ///< Onboard parameter value + uint16_t param_count; ///< Total number of onboard parameters + uint16_t param_index; ///< Index of this onboard parameter + +} mavlink_param_value_t; + +#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15 + + +/** + * @brief Pack a param_value message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; + + i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id + i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value + i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters + i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a param_value message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; + + i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id + i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value + i += put_uint16_t_by_index(param_count, i, msg->payload); // Total number of onboard parameters + i += put_uint16_t_by_index(param_index, i, msg->payload); // Index of this onboard parameter + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a param_value struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param param_value C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value) +{ + return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index); +} + +/** + * @brief Send a param_value message + * @param chan MAVLink channel to send the message + * + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t* param_id, float param_value, uint16_t param_count, uint16_t param_index) +{ + mavlink_message_t msg; + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, param_id, param_value, param_count, param_index); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE PARAM_VALUE UNPACKING + +/** + * @brief Get field param_id from param_value message + * + * @return Onboard parameter id + */ +static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload, 15); + return 15; +} + +/** + * @brief Get field param_value from param_value message + * + * @return Onboard parameter value + */ +static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+15)[0]; + r.b[2] = (msg->payload+15)[1]; + r.b[1] = (msg->payload+15)[2]; + r.b[0] = (msg->payload+15)[3]; + return (float)r.f; +} + +/** + * @brief Get field param_count from param_value message + * + * @return Total number of onboard parameters + */ +static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+15+sizeof(float))[0]; + r.b[0] = (msg->payload+15+sizeof(float))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field param_index from param_value message + * + * @return Index of this onboard parameter + */ +static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+15+sizeof(float)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Decode a param_value message into a struct + * + * @param msg The message to decode + * @param param_value C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value) +{ + mavlink_msg_param_value_get_param_id(msg, param_value->param_id); + param_value->param_value = mavlink_msg_param_value_get_param_value(msg); + param_value->param_count = mavlink_msg_param_value_get_param_count(msg); + param_value->param_index = mavlink_msg_param_value_get_param_index(msg); +}