![](/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/slugs/mavlink_msg_cpu_load.h
- Committer:
- shimniok
- Date:
- 2013-05-27
- Revision:
- 0:a6a169de725f
File content as of revision 0:a6a169de725f:
// MESSAGE CPU_LOAD PACKING #define MAVLINK_MSG_ID_CPU_LOAD 170 typedef struct __mavlink_cpu_load_t { uint8_t sensLoad; ///< Sensor DSC Load uint8_t ctrlLoad; ///< Control DSC Load uint16_t batVolt; ///< Battery Voltage in millivolts } mavlink_cpu_load_t; /** * @brief Pack a cpu_load 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 sensLoad Sensor DSC Load * @param ctrlLoad Control DSC Load * @param batVolt Battery Voltage in millivolts * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_cpu_load_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; i += put_uint8_t_by_index(sensLoad, i, msg->payload); // Sensor DSC Load i += put_uint8_t_by_index(ctrlLoad, i, msg->payload); // Control DSC Load i += put_uint16_t_by_index(batVolt, i, msg->payload); // Battery Voltage in millivolts return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a cpu_load 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 sensLoad Sensor DSC Load * @param ctrlLoad Control DSC Load * @param batVolt Battery Voltage in millivolts * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_cpu_load_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_CPU_LOAD; i += put_uint8_t_by_index(sensLoad, i, msg->payload); // Sensor DSC Load i += put_uint8_t_by_index(ctrlLoad, i, msg->payload); // Control DSC Load i += put_uint16_t_by_index(batVolt, i, msg->payload); // Battery Voltage in millivolts return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a cpu_load 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 cpu_load C-struct to read the message contents from */ static inline uint16_t mavlink_msg_cpu_load_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cpu_load_t* cpu_load) { return mavlink_msg_cpu_load_pack(system_id, component_id, msg, cpu_load->sensLoad, cpu_load->ctrlLoad, cpu_load->batVolt); } /** * @brief Send a cpu_load message * @param chan MAVLink channel to send the message * * @param sensLoad Sensor DSC Load * @param ctrlLoad Control DSC Load * @param batVolt Battery Voltage in millivolts */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_cpu_load_send(mavlink_channel_t chan, uint8_t sensLoad, uint8_t ctrlLoad, uint16_t batVolt) { mavlink_message_t msg; mavlink_msg_cpu_load_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, sensLoad, ctrlLoad, batVolt); mavlink_send_uart(chan, &msg); } #endif // MESSAGE CPU_LOAD UNPACKING /** * @brief Get field sensLoad from cpu_load message * * @return Sensor DSC Load */ static inline uint8_t mavlink_msg_cpu_load_get_sensLoad(const mavlink_message_t* msg) { return (uint8_t)(msg->payload)[0]; } /** * @brief Get field ctrlLoad from cpu_load message * * @return Control DSC Load */ static inline uint8_t mavlink_msg_cpu_load_get_ctrlLoad(const mavlink_message_t* msg) { return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; } /** * @brief Get field batVolt from cpu_load message * * @return Battery Voltage in millivolts */ static inline uint16_t mavlink_msg_cpu_load_get_batVolt(const mavlink_message_t* msg) { generic_16bit r; r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1]; return (uint16_t)r.s; } /** * @brief Decode a cpu_load message into a struct * * @param msg The message to decode * @param cpu_load C-struct to decode the message contents into */ static inline void mavlink_msg_cpu_load_decode(const mavlink_message_t* msg, mavlink_cpu_load_t* cpu_load) { cpu_load->sensLoad = mavlink_msg_cpu_load_get_sensLoad(msg); cpu_load->ctrlLoad = mavlink_msg_cpu_load_get_ctrlLoad(msg); cpu_load->batVolt = mavlink_msg_cpu_load_get_batVolt(msg); }