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/pixhawk/mavlink_msg_set_cam_shutter.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 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 }