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_set_cam_shutter.h@0:a6a169de725f, 2013-05-27 (annotated)
- Committer:
- shimniok
- Date:
- Mon May 27 13:26:03 2013 +0000
- Revision:
- 0:a6a169de725f
Working version with priorities set and update time display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE SET_CAM_SHUTTER PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_SET_CAM_SHUTTER 190 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_set_cam_shutter_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t cam_no; ///< Camera id |
shimniok | 0:a6a169de725f | 8 | uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 9 | uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 10 | uint16_t interval; ///< Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 11 | uint16_t exposure; ///< Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 12 | float gain; ///< Camera gain |
shimniok | 0:a6a169de725f | 13 | |
shimniok | 0:a6a169de725f | 14 | } mavlink_set_cam_shutter_t; |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | /** |
shimniok | 0:a6a169de725f | 19 | * @brief Pack a set_cam_shutter message |
shimniok | 0:a6a169de725f | 20 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 21 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 22 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 23 | * |
shimniok | 0:a6a169de725f | 24 | * @param cam_no Camera id |
shimniok | 0:a6a169de725f | 25 | * @param cam_mode Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 26 | * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 27 | * @param interval Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 28 | * @param exposure Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 29 | * @param gain Camera gain |
shimniok | 0:a6a169de725f | 30 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 31 | */ |
shimniok | 0:a6a169de725f | 32 | static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) |
shimniok | 0:a6a169de725f | 33 | { |
shimniok | 0:a6a169de725f | 34 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 35 | msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; |
shimniok | 0:a6a169de725f | 36 | |
shimniok | 0:a6a169de725f | 37 | i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id |
shimniok | 0:a6a169de725f | 38 | i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 39 | i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 40 | i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 41 | i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 42 | i += put_float_by_index(gain, i, msg->payload); // Camera gain |
shimniok | 0:a6a169de725f | 43 | |
shimniok | 0:a6a169de725f | 44 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 45 | } |
shimniok | 0:a6a169de725f | 46 | |
shimniok | 0:a6a169de725f | 47 | /** |
shimniok | 0:a6a169de725f | 48 | * @brief Pack a set_cam_shutter message |
shimniok | 0:a6a169de725f | 49 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 50 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 51 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 52 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 53 | * @param cam_no Camera id |
shimniok | 0:a6a169de725f | 54 | * @param cam_mode Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 55 | * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 56 | * @param interval Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 57 | * @param exposure Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 58 | * @param gain Camera gain |
shimniok | 0:a6a169de725f | 59 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 60 | */ |
shimniok | 0:a6a169de725f | 61 | static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) |
shimniok | 0:a6a169de725f | 62 | { |
shimniok | 0:a6a169de725f | 63 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 64 | msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; |
shimniok | 0:a6a169de725f | 65 | |
shimniok | 0:a6a169de725f | 66 | i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id |
shimniok | 0:a6a169de725f | 67 | i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 68 | i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 69 | i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 70 | i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 71 | i += put_float_by_index(gain, i, msg->payload); // Camera gain |
shimniok | 0:a6a169de725f | 72 | |
shimniok | 0:a6a169de725f | 73 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 74 | } |
shimniok | 0:a6a169de725f | 75 | |
shimniok | 0:a6a169de725f | 76 | /** |
shimniok | 0:a6a169de725f | 77 | * @brief Encode a set_cam_shutter struct into a message |
shimniok | 0:a6a169de725f | 78 | * |
shimniok | 0:a6a169de725f | 79 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 80 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 81 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 82 | * @param set_cam_shutter C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 83 | */ |
shimniok | 0:a6a169de725f | 84 | static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter) |
shimniok | 0:a6a169de725f | 85 | { |
shimniok | 0:a6a169de725f | 86 | return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain); |
shimniok | 0:a6a169de725f | 87 | } |
shimniok | 0:a6a169de725f | 88 | |
shimniok | 0:a6a169de725f | 89 | /** |
shimniok | 0:a6a169de725f | 90 | * @brief Send a set_cam_shutter message |
shimniok | 0:a6a169de725f | 91 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 92 | * |
shimniok | 0:a6a169de725f | 93 | * @param cam_no Camera id |
shimniok | 0:a6a169de725f | 94 | * @param cam_mode Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 95 | * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 96 | * @param interval Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 97 | * @param exposure Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 98 | * @param gain Camera gain |
shimniok | 0:a6a169de725f | 99 | */ |
shimniok | 0:a6a169de725f | 100 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 101 | |
shimniok | 0:a6a169de725f | 102 | static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) |
shimniok | 0:a6a169de725f | 103 | { |
shimniok | 0:a6a169de725f | 104 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 105 | mavlink_msg_set_cam_shutter_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain); |
shimniok | 0:a6a169de725f | 106 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 107 | } |
shimniok | 0:a6a169de725f | 108 | |
shimniok | 0:a6a169de725f | 109 | #endif |
shimniok | 0:a6a169de725f | 110 | // MESSAGE SET_CAM_SHUTTER UNPACKING |
shimniok | 0:a6a169de725f | 111 | |
shimniok | 0:a6a169de725f | 112 | /** |
shimniok | 0:a6a169de725f | 113 | * @brief Get field cam_no from set_cam_shutter message |
shimniok | 0:a6a169de725f | 114 | * |
shimniok | 0:a6a169de725f | 115 | * @return Camera id |
shimniok | 0:a6a169de725f | 116 | */ |
shimniok | 0:a6a169de725f | 117 | static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 118 | { |
shimniok | 0:a6a169de725f | 119 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 120 | } |
shimniok | 0:a6a169de725f | 121 | |
shimniok | 0:a6a169de725f | 122 | /** |
shimniok | 0:a6a169de725f | 123 | * @brief Get field cam_mode from set_cam_shutter message |
shimniok | 0:a6a169de725f | 124 | * |
shimniok | 0:a6a169de725f | 125 | * @return Camera mode: 0 = auto, 1 = manual |
shimniok | 0:a6a169de725f | 126 | */ |
shimniok | 0:a6a169de725f | 127 | static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 128 | { |
shimniok | 0:a6a169de725f | 129 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 130 | } |
shimniok | 0:a6a169de725f | 131 | |
shimniok | 0:a6a169de725f | 132 | /** |
shimniok | 0:a6a169de725f | 133 | * @brief Get field trigger_pin from set_cam_shutter message |
shimniok | 0:a6a169de725f | 134 | * |
shimniok | 0:a6a169de725f | 135 | * @return Trigger pin, 0-3 for PtGrey FireFly |
shimniok | 0:a6a169de725f | 136 | */ |
shimniok | 0:a6a169de725f | 137 | static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 138 | { |
shimniok | 0:a6a169de725f | 139 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 140 | } |
shimniok | 0:a6a169de725f | 141 | |
shimniok | 0:a6a169de725f | 142 | /** |
shimniok | 0:a6a169de725f | 143 | * @brief Get field interval from set_cam_shutter message |
shimniok | 0:a6a169de725f | 144 | * |
shimniok | 0:a6a169de725f | 145 | * @return Shutter interval, in microseconds |
shimniok | 0:a6a169de725f | 146 | */ |
shimniok | 0:a6a169de725f | 147 | static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 148 | { |
shimniok | 0:a6a169de725f | 149 | generic_16bit r; |
shimniok | 0:a6a169de725f | 150 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 151 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 152 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 153 | } |
shimniok | 0:a6a169de725f | 154 | |
shimniok | 0:a6a169de725f | 155 | /** |
shimniok | 0:a6a169de725f | 156 | * @brief Get field exposure from set_cam_shutter message |
shimniok | 0:a6a169de725f | 157 | * |
shimniok | 0:a6a169de725f | 158 | * @return Exposure time, in microseconds |
shimniok | 0:a6a169de725f | 159 | */ |
shimniok | 0:a6a169de725f | 160 | static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 161 | { |
shimniok | 0:a6a169de725f | 162 | generic_16bit r; |
shimniok | 0:a6a169de725f | 163 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 164 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 165 | return (uint16_t)r.s; |
shimniok | 0:a6a169de725f | 166 | } |
shimniok | 0:a6a169de725f | 167 | |
shimniok | 0:a6a169de725f | 168 | /** |
shimniok | 0:a6a169de725f | 169 | * @brief Get field gain from set_cam_shutter message |
shimniok | 0:a6a169de725f | 170 | * |
shimniok | 0:a6a169de725f | 171 | * @return Camera gain |
shimniok | 0:a6a169de725f | 172 | */ |
shimniok | 0:a6a169de725f | 173 | static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 174 | { |
shimniok | 0:a6a169de725f | 175 | generic_32bit r; |
shimniok | 0:a6a169de725f | 176 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; |
shimniok | 0:a6a169de725f | 177 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; |
shimniok | 0:a6a169de725f | 178 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[2]; |
shimniok | 0:a6a169de725f | 179 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[3]; |
shimniok | 0:a6a169de725f | 180 | return (float)r.f; |
shimniok | 0:a6a169de725f | 181 | } |
shimniok | 0:a6a169de725f | 182 | |
shimniok | 0:a6a169de725f | 183 | /** |
shimniok | 0:a6a169de725f | 184 | * @brief Decode a set_cam_shutter message into a struct |
shimniok | 0:a6a169de725f | 185 | * |
shimniok | 0:a6a169de725f | 186 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 187 | * @param set_cam_shutter C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 188 | */ |
shimniok | 0:a6a169de725f | 189 | static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter) |
shimniok | 0:a6a169de725f | 190 | { |
shimniok | 0:a6a169de725f | 191 | set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg); |
shimniok | 0:a6a169de725f | 192 | set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg); |
shimniok | 0:a6a169de725f | 193 | set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg); |
shimniok | 0:a6a169de725f | 194 | set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg); |
shimniok | 0:a6a169de725f | 195 | set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg); |
shimniok | 0:a6a169de725f | 196 | set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg); |
shimniok | 0:a6a169de725f | 197 | } |