Diff: MAVlink/include/common/mavlink_msg_system_time.h

Revision:

0:a6a169de725f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_system_time.h	Mon May 27 13:26:03 2013 +0000
@@ -0,0 +1,110 @@
+// MESSAGE SYSTEM_TIME PACKING
+
+#define MAVLINK_MSG_ID_SYSTEM_TIME 2
+
+typedef struct __mavlink_system_time_t 
+{
+    uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
+
+} mavlink_system_time_t;
+
+
+
+/**
+ * @brief Pack a system_time 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 time_usec Timestamp of the master clock in microseconds since UNIX epoch.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+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)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
+
+    i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch.
+
+    return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a system_time 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 time_usec Timestamp of the master clock in microseconds since UNIX epoch.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+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)
+{
+    uint16_t i = 0;
+    msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
+
+    i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch.
+
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a system_time 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 system_time C-struct to read the message contents from
+ */
+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)
+{
+    return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec);
+}
+
+/**
+ * @brief Send a system_time message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec)
+{
+    mavlink_message_t msg;
+    mavlink_msg_system_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_usec);
+    mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE SYSTEM_TIME UNPACKING
+
+/**
+ * @brief Get field time_usec from system_time message
+ *
+ * @return Timestamp of the master clock in microseconds since UNIX epoch.
+ */
+static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg)
+{
+    generic_64bit r;
+    r.b[7] = (msg->payload)[0];
+    r.b[6] = (msg->payload)[1];
+    r.b[5] = (msg->payload)[2];
+    r.b[4] = (msg->payload)[3];
+    r.b[3] = (msg->payload)[4];
+    r.b[2] = (msg->payload)[5];
+    r.b[1] = (msg->payload)[6];
+    r.b[0] = (msg->payload)[7];
+    return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Decode a system_time message into a struct
+ *
+ * @param msg The message to decode
+ * @param system_time C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
+{
+    system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg);
+}