![](/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
MAVlink/include/pixhawk/mavlink_msg_watchdog_heartbeat.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE WATCHDOG_HEARTBEAT PACKING #define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 150 typedef struct __mavlink_watchdog_heartbeat_t { uint16_t watchdog_id; ///< Watchdog ID uint16_t process_count; ///< Number of processes } mavlink_watchdog_heartbeat_t; /** * @brief Pack a watchdog_heartbeat 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_id Watchdog ID * @param process_count Number of processes * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID i += put_uint16_t_by_index(process_count, i, msg->payload); // Number of processes return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a watchdog_heartbeat 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 watchdog_id Watchdog ID * @param process_count Number of processes * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t watchdog_id, uint16_t process_count) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT; i += put_uint16_t_by_index(watchdog_id, i, msg->payload); // Watchdog ID i += put_uint16_t_by_index(process_count, i, msg->payload); // Number of processes return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a watchdog_heartbeat 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_heartbeat C-struct to read the message contents from */ static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat) { return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count); } /** * @brief Send a watchdog_heartbeat message * @param chan MAVLink channel to send the message * * @param watchdog_id Watchdog ID * @param process_count Number of processes */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count) { mavlink_message_t msg; mavlink_msg_watchdog_heartbeat_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, watchdog_id, process_count); mavlink_send_uart(chan, &msg); } #endif // MESSAGE WATCHDOG_HEARTBEAT UNPACKING /** * @brief Get field watchdog_id from watchdog_heartbeat message * * @return Watchdog ID */ static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload)[0]; r.b[0] = (msg->payload)[1]; return (uint16_t)r.s; } /** * @brief Get field process_count from watchdog_heartbeat message * * @return Number of processes */ static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint16_t))[0]; r.b[0] = (msg->payload+sizeof(uint16_t))[1]; return (uint16_t)r.s; } /** * @brief Decode a watchdog_heartbeat message into a struct * * @param msg The message to decode * @param watchdog_heartbeat C-struct to decode the message contents into */ static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat) { watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg); watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg); }