![](/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
Diff: MAVlink/include/slugs/mavlink_msg_cpu_load.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/slugs/mavlink_msg_cpu_load.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/slugs/mavlink_msg_cpu_load.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,138 @@ +// 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); +}