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
Diff: MAVlink/include/pixhawk/mavlink_msg_aux_status.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/pixhawk/mavlink_msg_aux_status.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_aux_status.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,204 @@ +// MESSAGE AUX_STATUS PACKING + +#define MAVLINK_MSG_ID_AUX_STATUS 142 + +typedef struct __mavlink_aux_status_t +{ + uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + uint16_t i2c0_err_count; ///< Number of I2C errors since startup + uint16_t i2c1_err_count; ///< Number of I2C errors since startup + uint16_t spi0_err_count; ///< Number of I2C errors since startup + uint16_t spi1_err_count; ///< Number of I2C errors since startup + uint16_t uart_total_err_count; ///< Number of I2C errors since startup + +} mavlink_aux_status_t; + + + +/** + * @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + * @param i2c0_err_count Number of I2C errors since startup + * @param i2c1_err_count Number of I2C errors since startup + * @param spi0_err_count Number of I2C errors since startup + * @param spi1_err_count Number of I2C errors since startup + * @param uart_total_err_count Number of I2C errors since startup + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_AUX_STATUS; + + i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + * @param i2c0_err_count Number of I2C errors since startup + * @param i2c1_err_count Number of I2C errors since startup + * @param spi0_err_count Number of I2C errors since startup + * @param spi1_err_count Number of I2C errors since startup + * @param uart_total_err_count Number of I2C errors since startup + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_AUX_STATUS; + + i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup + i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a aux_status 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 aux_status C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status) +{ + return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count); +} + +/** + * @brief Send a aux_status message + * @param chan MAVLink channel to send the message + * + * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + * @param i2c0_err_count Number of I2C errors since startup + * @param i2c1_err_count Number of I2C errors since startup + * @param spi0_err_count Number of I2C errors since startup + * @param spi1_err_count Number of I2C errors since startup + * @param uart_total_err_count Number of I2C errors since startup + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count) +{ + mavlink_message_t msg; + mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE AUX_STATUS UNPACKING + +/** + * @brief Get field load from aux_status message + * + * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 + */ +static inline uint16_t mavlink_msg_aux_status_get_load(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 i2c0_err_count from aux_status message + * + * @return Number of I2C errors since startup + */ +static inline uint16_t mavlink_msg_aux_status_get_i2c0_err_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 Get field i2c1_err_count from aux_status message + * + * @return Number of I2C errors since startup + */ +static inline uint16_t mavlink_msg_aux_status_get_i2c1_err_count(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field spi0_err_count from aux_status message + * + * @return Number of I2C errors since startup + */ +static inline uint16_t mavlink_msg_aux_status_get_spi0_err_count(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field spi1_err_count from aux_status message + * + * @return Number of I2C errors since startup + */ +static inline uint16_t mavlink_msg_aux_status_get_spi1_err_count(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field uart_total_err_count from aux_status message + * + * @return Number of I2C errors since startup + */ +static inline uint16_t mavlink_msg_aux_status_get_uart_total_err_count(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Decode a aux_status message into a struct + * + * @param msg The message to decode + * @param aux_status C-struct to decode the message contents into + */ +static inline void mavlink_msg_aux_status_decode(const mavlink_message_t* msg, mavlink_aux_status_t* aux_status) +{ + aux_status->load = mavlink_msg_aux_status_get_load(msg); + aux_status->i2c0_err_count = mavlink_msg_aux_status_get_i2c0_err_count(msg); + aux_status->i2c1_err_count = mavlink_msg_aux_status_get_i2c1_err_count(msg); + aux_status->spi0_err_count = mavlink_msg_aux_status_get_spi0_err_count(msg); + aux_status->spi1_err_count = mavlink_msg_aux_status_get_spi1_err_count(msg); + aux_status->uart_total_err_count = mavlink_msg_aux_status_get_uart_total_err_count(msg); +}