lib/main/MAVLink/common/mavlink_msg_battery_status.h

   1 // MESSAGE BATTERY_STATUS PACKING
   2
   3 #define MAVLINK_MSG_ID_BATTERY_STATUS 147
   4
   5 typedef struct __mavlink_battery_status_t
   6 {
   7  int32_t current_consumed; ///< Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
   8  int32_t energy_consumed; ///< Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
   9  int16_t temperature; ///< Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
  10  uint16_t voltages[10]; ///< Battery voltage of cells, in millivolts (1 = 1 millivolt)
  11  int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
  12  uint8_t id; ///< Battery ID
  13  uint8_t battery_function; ///< Function of the battery
  14  uint8_t type; ///< Type (chemistry) of the battery
  15  int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
  16 } mavlink_battery_status_t;
  17
  18 #define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 36
  19 #define MAVLINK_MSG_ID_147_LEN 36
  20
  21 #define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 154
  22 #define MAVLINK_MSG_ID_147_CRC 154
  23
  24 #define MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN 10
  25
  26 #define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
  27         "BATTERY_STATUS", \
  28         9, \
  29         {  { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \
  30          { "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \
  31          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_battery_status_t, temperature) }, \
  32          { "voltages", NULL, MAVLINK_TYPE_UINT16_T, 10, 10, offsetof(mavlink_battery_status_t, voltages) }, \
  33          { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_battery_status_t, current_battery) }, \
  34          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_battery_status_t, id) }, \
  35          { "battery_function", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_battery_status_t, battery_function) }, \
  36          { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_battery_status_t, type) }, \
  37          { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 35, offsetof(mavlink_battery_status_t, battery_remaining) }, \
  38          } \
  39 }
  40
  41
  42 /**
  43  * @brief Pack a battery_status message
  44  * @param system_id ID of this system
  45  * @param component_id ID of this component (e.g. 200 for IMU)
  46  * @param msg The MAVLink message to compress the data into
  47  *
  48  * @param id Battery ID
  49  * @param battery_function Function of the battery
  50  * @param type Type (chemistry) of the battery
  51  * @param temperature Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
  52  * @param voltages Battery voltage of cells, in millivolts (1 = 1 millivolt)
  53  * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
  54  * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
  55  * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
  56  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                                        uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, const uint16_t *voltages, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63         char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
  64         _mav_put_int32_t(buf, 0, current_consumed);
  65         _mav_put_int32_t(buf, 4, energy_consumed);
  66         _mav_put_int16_t(buf, 8, temperature);
  67         _mav_put_int16_t(buf, 30, current_battery);
  68         _mav_put_uint8_t(buf, 32, id);
  69         _mav_put_uint8_t(buf, 33, battery_function);
  70         _mav_put_uint8_t(buf, 34, type);
  71         _mav_put_int8_t(buf, 35, battery_remaining);
  72         _mav_put_uint16_t_array(buf, 10, voltages, 10);
  73         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
  74 #else
  75         mavlink_battery_status_t packet;
  76         packet.current_consumed = current_consumed;
  77         packet.energy_consumed = energy_consumed;
  78         packet.temperature = temperature;
  79         packet.current_battery = current_battery;
  80         packet.id = id;
  81         packet.battery_function = battery_function;
  82         packet.type = type;
  83         packet.battery_remaining = battery_remaining;
  84         mav_array_memcpy(packet.voltages, voltages, sizeof(uint16_t)*10);
  85         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
  86 #endif
  87
  88         msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
  89 #if MAVLINK_CRC_EXTRA
  90     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
  91 #else
  92     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
  93 #endif
  94 }
  95
  96 /**
  97  * @brief Pack a battery_status message on a channel
  98  * @param system_id ID of this system
  99  * @param component_id ID of this component (e.g. 200 for IMU)
 100  * @param chan The MAVLink channel this message will be sent over
 101  * @param msg The MAVLink message to compress the data into
 102  * @param id Battery ID
 103  * @param battery_function Function of the battery
 104  * @param type Type (chemistry) of the battery
 105  * @param temperature Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
 106  * @param voltages Battery voltage of cells, in millivolts (1 = 1 millivolt)
 107  * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
 108  * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
 109  * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
 110  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
 111  * @return length of the message in bytes (excluding serial stream start sign)
 112  */
 113 static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 114                                                            mavlink_message_t* msg,
 115                                                            uint8_t id,uint8_t battery_function,uint8_t type,int16_t temperature,const uint16_t *voltages,int16_t current_battery,int32_t current_consumed,int32_t energy_consumed,int8_t battery_remaining)
 116 {
 117 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 118         char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
 119         _mav_put_int32_t(buf, 0, current_consumed);
 120         _mav_put_int32_t(buf, 4, energy_consumed);
 121         _mav_put_int16_t(buf, 8, temperature);
 122         _mav_put_int16_t(buf, 30, current_battery);
 123         _mav_put_uint8_t(buf, 32, id);
 124         _mav_put_uint8_t(buf, 33, battery_function);
 125         _mav_put_uint8_t(buf, 34, type);
 126         _mav_put_int8_t(buf, 35, battery_remaining);
 127         _mav_put_uint16_t_array(buf, 10, voltages, 10);
 128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 129 #else
 130         mavlink_battery_status_t packet;
 131         packet.current_consumed = current_consumed;
 132         packet.energy_consumed = energy_consumed;
 133         packet.temperature = temperature;
 134         packet.current_battery = current_battery;
 135         packet.id = id;
 136         packet.battery_function = battery_function;
 137         packet.type = type;
 138         packet.battery_remaining = battery_remaining;
 139         mav_array_memcpy(packet.voltages, voltages, sizeof(uint16_t)*10);
 140         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 141 #endif
 142
 143         msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
 144 #if MAVLINK_CRC_EXTRA
 145     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
 146 #else
 147     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 148 #endif
 149 }
 150
 151 /**
 152  * @brief Encode a battery_status struct
 153  *
 154  * @param system_id ID of this system
 155  * @param component_id ID of this component (e.g. 200 for IMU)
 156  * @param msg The MAVLink message to compress the data into
 157  * @param battery_status C-struct to read the message contents from
 158  */
 159 static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
 160 {
 161         return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->id, battery_status->battery_function, battery_status->type, battery_status->temperature, battery_status->voltages, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining);
 162 }
 163
 164 /**
 165  * @brief Encode a battery_status struct on a channel
 166  *
 167  * @param system_id ID of this system
 168  * @param component_id ID of this component (e.g. 200 for IMU)
 169  * @param chan The MAVLink channel this message will be sent over
 170  * @param msg The MAVLink message to compress the data into
 171  * @param battery_status C-struct to read the message contents from
 172  */
 173 static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
 174 {
 175         return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->id, battery_status->battery_function, battery_status->type, battery_status->temperature, battery_status->voltages, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining);
 176 }
 177
 178 /**
 179  * @brief Send a battery_status message
 180  * @param chan MAVLink channel to send the message
 181  *
 182  * @param id Battery ID
 183  * @param battery_function Function of the battery
 184  * @param type Type (chemistry) of the battery
 185  * @param temperature Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
 186  * @param voltages Battery voltage of cells, in millivolts (1 = 1 millivolt)
 187  * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
 188  * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
 189  * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
 190  * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
 191  */
 192 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 193
 194 static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, const uint16_t *voltages, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining)
 195 {
 196 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 197         char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
 198         _mav_put_int32_t(buf, 0, current_consumed);
 199         _mav_put_int32_t(buf, 4, energy_consumed);
 200         _mav_put_int16_t(buf, 8, temperature);
 201         _mav_put_int16_t(buf, 30, current_battery);
 202         _mav_put_uint8_t(buf, 32, id);
 203         _mav_put_uint8_t(buf, 33, battery_function);
 204         _mav_put_uint8_t(buf, 34, type);
 205         _mav_put_int8_t(buf, 35, battery_remaining);
 206         _mav_put_uint16_t_array(buf, 10, voltages, 10);
 207 #if MAVLINK_CRC_EXTRA
 208     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
 209 #else
 210     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 211 #endif
 212 #else
 213         mavlink_battery_status_t packet;
 214         packet.current_consumed = current_consumed;
 215         packet.energy_consumed = energy_consumed;
 216         packet.temperature = temperature;
 217         packet.current_battery = current_battery;
 218         packet.id = id;
 219         packet.battery_function = battery_function;
 220         packet.type = type;
 221         packet.battery_remaining = battery_remaining;
 222         mav_array_memcpy(packet.voltages, voltages, sizeof(uint16_t)*10);
 223 #if MAVLINK_CRC_EXTRA
 224     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
 225 #else
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 227 #endif
 228 #endif
 229 }
 230
 231 #if MAVLINK_MSG_ID_BATTERY_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 232 /*
 233   This varient of _send() can be used to save stack space by re-using
 234   memory from the receive buffer.  The caller provides a
 235   mavlink_message_t which is the size of a full mavlink message. This
 236   is usually the receive buffer for the channel, and allows a reply to an
 237   incoming message with minimum stack space usage.
 238  */
 239 static inline void mavlink_msg_battery_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t id, uint8_t battery_function, uint8_t type, int16_t temperature, const uint16_t *voltages, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining)
 240 {
 241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 242         char *buf = (char *)msgbuf;
 243         _mav_put_int32_t(buf, 0, current_consumed);
 244         _mav_put_int32_t(buf, 4, energy_consumed);
 245         _mav_put_int16_t(buf, 8, temperature);
 246         _mav_put_int16_t(buf, 30, current_battery);
 247         _mav_put_uint8_t(buf, 32, id);
 248         _mav_put_uint8_t(buf, 33, battery_function);
 249         _mav_put_uint8_t(buf, 34, type);
 250         _mav_put_int8_t(buf, 35, battery_remaining);
 251         _mav_put_uint16_t_array(buf, 10, voltages, 10);
 252 #if MAVLINK_CRC_EXTRA
 253     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
 254 #else
 255     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 256 #endif
 257 #else
 258         mavlink_battery_status_t *packet = (mavlink_battery_status_t *)msgbuf;
 259         packet->current_consumed = current_consumed;
 260         packet->energy_consumed = energy_consumed;
 261         packet->temperature = temperature;
 262         packet->current_battery = current_battery;
 263         packet->id = id;
 264         packet->battery_function = battery_function;
 265         packet->type = type;
 266         packet->battery_remaining = battery_remaining;
 267         mav_array_memcpy(packet->voltages, voltages, sizeof(uint16_t)*10);
 268 #if MAVLINK_CRC_EXTRA
 269     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
 270 #else
 271     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 272 #endif
 273 #endif
 274 }
 275 #endif
 276
 277 #endif
 278
 279 // MESSAGE BATTERY_STATUS UNPACKING
 280
 281
 282 /**
 283  * @brief Get field id from battery_status message
 284  *
 285  * @return Battery ID
 286  */
 287 static inline uint8_t mavlink_msg_battery_status_get_id(const mavlink_message_t* msg)
 288 {
 289         return _MAV_RETURN_uint8_t(msg,  32);
 290 }
 291
 292 /**
 293  * @brief Get field battery_function from battery_status message
 294  *
 295  * @return Function of the battery
 296  */
 297 static inline uint8_t mavlink_msg_battery_status_get_battery_function(const mavlink_message_t* msg)
 298 {
 299         return _MAV_RETURN_uint8_t(msg,  33);
 300 }
 301
 302 /**
 303  * @brief Get field type from battery_status message
 304  *
 305  * @return Type (chemistry) of the battery
 306  */
 307 static inline uint8_t mavlink_msg_battery_status_get_type(const mavlink_message_t* msg)
 308 {
 309         return _MAV_RETURN_uint8_t(msg,  34);
 310 }
 311
 312 /**
 313  * @brief Get field temperature from battery_status message
 314  *
 315  * @return Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
 316  */
 317 static inline int16_t mavlink_msg_battery_status_get_temperature(const mavlink_message_t* msg)
 318 {
 319         return _MAV_RETURN_int16_t(msg,  8);
 320 }
 321
 322 /**
 323  * @brief Get field voltages from battery_status message
 324  *
 325  * @return Battery voltage of cells, in millivolts (1 = 1 millivolt)
 326  */
 327 static inline uint16_t mavlink_msg_battery_status_get_voltages(const mavlink_message_t* msg, uint16_t *voltages)
 328 {
 329         return _MAV_RETURN_uint16_t_array(msg, voltages, 10,  10);
 330 }
 331
 332 /**
 333  * @brief Get field current_battery from battery_status message
 334  *
 335  * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
 336  */
 337 static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
 338 {
 339         return _MAV_RETURN_int16_t(msg,  30);
 340 }
 341
 342 /**
 343  * @brief Get field current_consumed from battery_status message
 344  *
 345  * @return Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
 346  */
 347 static inline int32_t mavlink_msg_battery_status_get_current_consumed(const mavlink_message_t* msg)
 348 {
 349         return _MAV_RETURN_int32_t(msg,  0);
 350 }
 351
 352 /**
 353  * @brief Get field energy_consumed from battery_status message
 354  *
 355  * @return Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
 356  */
 357 static inline int32_t mavlink_msg_battery_status_get_energy_consumed(const mavlink_message_t* msg)
 358 {
 359         return _MAV_RETURN_int32_t(msg,  4);
 360 }
 361
 362 /**
 363  * @brief Get field battery_remaining from battery_status message
 364  *
 365  * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
 366  */
 367 static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
 368 {
 369         return _MAV_RETURN_int8_t(msg,  35);
 370 }
 371
 372 /**
 373  * @brief Decode a battery_status message into a struct
 374  *
 375  * @param msg The message to decode
 376  * @param battery_status C-struct to decode the message contents into
 377  */
 378 static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status)
 379 {
 380 #if MAVLINK_NEED_BYTE_SWAP
 381         battery_status->current_consumed = mavlink_msg_battery_status_get_current_consumed(msg);
 382         battery_status->energy_consumed = mavlink_msg_battery_status_get_energy_consumed(msg);
 383         battery_status->temperature = mavlink_msg_battery_status_get_temperature(msg);
 384         mavlink_msg_battery_status_get_voltages(msg, battery_status->voltages);
 385         battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg);
 386         battery_status->id = mavlink_msg_battery_status_get_id(msg);
 387         battery_status->battery_function = mavlink_msg_battery_status_get_battery_function(msg);
 388         battery_status->type = mavlink_msg_battery_status_get_type(msg);
 389         battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg);
 390 #else
 391         memcpy(battery_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
 392 #endif
 393 }