Michael Shimniok / Mbed 2 deprecated DataBus

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/common/mavlink_msg_command.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE COMMAND PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_COMMAND 75
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_command_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target_system; ///< System which should execute the command
shimniok 0:a6a169de725f 8 uint8_t target_component; ///< Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 9 uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 10 uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 11 float param1; ///< Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 12 float param2; ///< Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 13 float param3; ///< Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 14 float param4; ///< Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16 } mavlink_command_t;
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20 /**
shimniok 0:a6a169de725f 21 * @brief Pack a command message
shimniok 0:a6a169de725f 22 * @param system_id ID of this system
shimniok 0:a6a169de725f 23 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 24 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 25 *
shimniok 0:a6a169de725f 26 * @param target_system System which should execute the command
shimniok 0:a6a169de725f 27 * @param target_component Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 28 * @param command Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 29 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 30 * @param param1 Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 31 * @param param2 Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 32 * @param param3 Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 33 * @param param4 Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 34 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 35 */
shimniok 0:a6a169de725f 36 static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
shimniok 0:a6a169de725f 37 {
shimniok 0:a6a169de725f 38 uint16_t i = 0;
shimniok 0:a6a169de725f 39 msg->msgid = MAVLINK_MSG_ID_COMMAND;
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
shimniok 0:a6a169de725f 42 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 43 i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 44 i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 45 i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 46 i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 47 i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 48 i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 51 }
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 /**
shimniok 0:a6a169de725f 54 * @brief Pack a command message
shimniok 0:a6a169de725f 55 * @param system_id ID of this system
shimniok 0:a6a169de725f 56 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 57 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 58 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 59 * @param target_system System which should execute the command
shimniok 0:a6a169de725f 60 * @param target_component Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 61 * @param command Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 62 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 63 * @param param1 Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 64 * @param param2 Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 65 * @param param3 Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 66 * @param param4 Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 67 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 68 */
shimniok 0:a6a169de725f 69 static inline uint16_t mavlink_msg_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
shimniok 0:a6a169de725f 70 {
shimniok 0:a6a169de725f 71 uint16_t i = 0;
shimniok 0:a6a169de725f 72 msg->msgid = MAVLINK_MSG_ID_COMMAND;
shimniok 0:a6a169de725f 73
shimniok 0:a6a169de725f 74 i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command
shimniok 0:a6a169de725f 75 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 76 i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 77 i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 78 i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 79 i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 80 i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 81 i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 82
shimniok 0:a6a169de725f 83 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 84 }
shimniok 0:a6a169de725f 85
shimniok 0:a6a169de725f 86 /**
shimniok 0:a6a169de725f 87 * @brief Encode a command struct into a message
shimniok 0:a6a169de725f 88 *
shimniok 0:a6a169de725f 89 * @param system_id ID of this system
shimniok 0:a6a169de725f 90 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 91 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 92 * @param command C-struct to read the message contents from
shimniok 0:a6a169de725f 93 */
shimniok 0:a6a169de725f 94 static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
shimniok 0:a6a169de725f 95 {
shimniok 0:a6a169de725f 96 return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
shimniok 0:a6a169de725f 97 }
shimniok 0:a6a169de725f 98
shimniok 0:a6a169de725f 99 /**
shimniok 0:a6a169de725f 100 * @brief Send a command message
shimniok 0:a6a169de725f 101 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 102 *
shimniok 0:a6a169de725f 103 * @param target_system System which should execute the command
shimniok 0:a6a169de725f 104 * @param target_component Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 105 * @param command Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 106 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 107 * @param param1 Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 108 * @param param2 Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 109 * @param param3 Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 110 * @param param4 Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 111 */
shimniok 0:a6a169de725f 112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
shimniok 0:a6a169de725f 115 {
shimniok 0:a6a169de725f 116 mavlink_message_t msg;
shimniok 0:a6a169de725f 117 mavlink_msg_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, command, confirmation, param1, param2, param3, param4);
shimniok 0:a6a169de725f 118 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120
shimniok 0:a6a169de725f 121 #endif
shimniok 0:a6a169de725f 122 // MESSAGE COMMAND UNPACKING
shimniok 0:a6a169de725f 123
shimniok 0:a6a169de725f 124 /**
shimniok 0:a6a169de725f 125 * @brief Get field target_system from command message
shimniok 0:a6a169de725f 126 *
shimniok 0:a6a169de725f 127 * @return System which should execute the command
shimniok 0:a6a169de725f 128 */
shimniok 0:a6a169de725f 129 static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 130 {
shimniok 0:a6a169de725f 131 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 132 }
shimniok 0:a6a169de725f 133
shimniok 0:a6a169de725f 134 /**
shimniok 0:a6a169de725f 135 * @brief Get field target_component from command message
shimniok 0:a6a169de725f 136 *
shimniok 0:a6a169de725f 137 * @return Component which should execute the command, 0 for all components
shimniok 0:a6a169de725f 138 */
shimniok 0:a6a169de725f 139 static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 140 {
shimniok 0:a6a169de725f 141 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 142 }
shimniok 0:a6a169de725f 143
shimniok 0:a6a169de725f 144 /**
shimniok 0:a6a169de725f 145 * @brief Get field command from command message
shimniok 0:a6a169de725f 146 *
shimniok 0:a6a169de725f 147 * @return Command ID, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 148 */
shimniok 0:a6a169de725f 149 static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 150 {
shimniok 0:a6a169de725f 151 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 152 }
shimniok 0:a6a169de725f 153
shimniok 0:a6a169de725f 154 /**
shimniok 0:a6a169de725f 155 * @brief Get field confirmation from command message
shimniok 0:a6a169de725f 156 *
shimniok 0:a6a169de725f 157 * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
shimniok 0:a6a169de725f 158 */
shimniok 0:a6a169de725f 159 static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 160 {
shimniok 0:a6a169de725f 161 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 162 }
shimniok 0:a6a169de725f 163
shimniok 0:a6a169de725f 164 /**
shimniok 0:a6a169de725f 165 * @brief Get field param1 from command message
shimniok 0:a6a169de725f 166 *
shimniok 0:a6a169de725f 167 * @return Parameter 1, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 168 */
shimniok 0:a6a169de725f 169 static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 170 {
shimniok 0:a6a169de725f 171 generic_32bit r;
shimniok 0:a6a169de725f 172 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 173 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 174 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 175 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 176 return (float)r.f;
shimniok 0:a6a169de725f 177 }
shimniok 0:a6a169de725f 178
shimniok 0:a6a169de725f 179 /**
shimniok 0:a6a169de725f 180 * @brief Get field param2 from command message
shimniok 0:a6a169de725f 181 *
shimniok 0:a6a169de725f 182 * @return Parameter 2, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 183 */
shimniok 0:a6a169de725f 184 static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 185 {
shimniok 0:a6a169de725f 186 generic_32bit r;
shimniok 0:a6a169de725f 187 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 188 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 189 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 190 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 191 return (float)r.f;
shimniok 0:a6a169de725f 192 }
shimniok 0:a6a169de725f 193
shimniok 0:a6a169de725f 194 /**
shimniok 0:a6a169de725f 195 * @brief Get field param3 from command message
shimniok 0:a6a169de725f 196 *
shimniok 0:a6a169de725f 197 * @return Parameter 3, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 198 */
shimniok 0:a6a169de725f 199 static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 200 {
shimniok 0:a6a169de725f 201 generic_32bit r;
shimniok 0:a6a169de725f 202 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 203 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 204 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 205 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 206 return (float)r.f;
shimniok 0:a6a169de725f 207 }
shimniok 0:a6a169de725f 208
shimniok 0:a6a169de725f 209 /**
shimniok 0:a6a169de725f 210 * @brief Get field param4 from command message
shimniok 0:a6a169de725f 211 *
shimniok 0:a6a169de725f 212 * @return Parameter 4, as defined by MAV_CMD enum.
shimniok 0:a6a169de725f 213 */
shimniok 0:a6a169de725f 214 static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 215 {
shimniok 0:a6a169de725f 216 generic_32bit r;
shimniok 0:a6a169de725f 217 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 218 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 219 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 220 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 221 return (float)r.f;
shimniok 0:a6a169de725f 222 }
shimniok 0:a6a169de725f 223
shimniok 0:a6a169de725f 224 /**
shimniok 0:a6a169de725f 225 * @brief Decode a command message into a struct
shimniok 0:a6a169de725f 226 *
shimniok 0:a6a169de725f 227 * @param msg The message to decode
shimniok 0:a6a169de725f 228 * @param command C-struct to decode the message contents into
shimniok 0:a6a169de725f 229 */
shimniok 0:a6a169de725f 230 static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
shimniok 0:a6a169de725f 231 {
shimniok 0:a6a169de725f 232 command->target_system = mavlink_msg_command_get_target_system(msg);
shimniok 0:a6a169de725f 233 command->target_component = mavlink_msg_command_get_target_component(msg);
shimniok 0:a6a169de725f 234 command->command = mavlink_msg_command_get_command(msg);
shimniok 0:a6a169de725f 235 command->confirmation = mavlink_msg_command_get_confirmation(msg);
shimniok 0:a6a169de725f 236 command->param1 = mavlink_msg_command_get_param1(msg);
shimniok 0:a6a169de725f 237 command->param2 = mavlink_msg_command_get_param2(msg);
shimniok 0:a6a169de725f 238 command->param3 = mavlink_msg_command_get_param3(msg);
shimniok 0:a6a169de725f 239 command->param4 = mavlink_msg_command_get_param4(msg);
shimniok 0:a6a169de725f 240 }