![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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/pixhawk/mavlink_msg_watchdog_command.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_watchdog_command.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,158 @@ +// MESSAGE WATCHDOG_COMMAND PACKING + +#define MAVLINK_MSG_ID_WATCHDOG_COMMAND 153 + +typedef struct __mavlink_watchdog_command_t +{ + uint8_t target_system_id; ///< Target system ID + uint16_t watchdog_id; ///< Watchdog ID + uint16_t process_id; ///< Process ID + uint8_t command_id; ///< Command ID + +} mavlink_watchdog_command_t; + + + +/** + * @brief Pack a watchdog_command 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 target_system_id Target system ID + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param command_id Command ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; + + i += put_uint8_t_by_index(target_system_id, i, msg->payload); // Target system ID + i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID + i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID + i += put_uint8_t_by_index(command_id, i, msg->payload); // Command ID + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a watchdog_command 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 target_system_id Target system ID + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param command_id Command ID + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND; + + i += put_uint8_t_by_index(target_system_id, i, msg->payload); // Target system ID + i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID + i += put_uint16_t_by_index(process_id, i, msg->payload); // Process ID + i += put_uint8_t_by_index(command_id, i, msg->payload); // Command ID + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a watchdog_command 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 watchdog_command C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_command_t* watchdog_command) +{ + return mavlink_msg_watchdog_command_pack(system_id, component_id, msg, watchdog_command->target_system_id, watchdog_command->watchdog_id, watchdog_command->process_id, watchdog_command->command_id); +} + +/** + * @brief Send a watchdog_command message + * @param chan MAVLink channel to send the message + * + * @param target_system_id Target system ID + * @param watchdog_id Watchdog ID + * @param process_id Process ID + * @param command_id Command ID + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id) +{ + mavlink_message_t msg; + mavlink_msg_watchdog_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system_id, watchdog_id, process_id, command_id); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE WATCHDOG_COMMAND UNPACKING + +/** + * @brief Get field target_system_id from watchdog_command message + * + * @return Target system ID + */ +static inline uint8_t mavlink_msg_watchdog_command_get_target_system_id(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field watchdog_id from watchdog_command message + * + * @return Watchdog ID + */ +static inline uint16_t mavlink_msg_watchdog_command_get_watchdog_id(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint8_t))[0]; + r.b[0] = (msg->payload+sizeof(uint8_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field process_id from watchdog_command message + * + * @return Process ID + */ +static inline uint16_t mavlink_msg_watchdog_command_get_process_id(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field command_id from watchdog_command message + * + * @return Command ID + */ +static inline uint8_t mavlink_msg_watchdog_command_get_command_id(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; +} + +/** + * @brief Decode a watchdog_command message into a struct + * + * @param msg The message to decode + * @param watchdog_command C-struct to decode the message contents into + */ +static inline void mavlink_msg_watchdog_command_decode(const mavlink_message_t* msg, mavlink_watchdog_command_t* watchdog_command) +{ + watchdog_command->target_system_id = mavlink_msg_watchdog_command_get_target_system_id(msg); + watchdog_command->watchdog_id = mavlink_msg_watchdog_command_get_watchdog_id(msg); + watchdog_command->process_id = mavlink_msg_watchdog_command_get_process_id(msg); + watchdog_command->command_id = mavlink_msg_watchdog_command_get_command_id(msg); +}