lib/main/MAVLink/common/mavlink_msg_debug.h

   1 // MESSAGE DEBUG PACKING
   2
   3 #define MAVLINK_MSG_ID_DEBUG 254
   4
   5 typedef struct __mavlink_debug_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   8  float value; ///< DEBUG value
   9  uint8_t ind; ///< index of debug variable
  10 } mavlink_debug_t;
  11
  12 #define MAVLINK_MSG_ID_DEBUG_LEN 9
  13 #define MAVLINK_MSG_ID_254_LEN 9
  14
  15 #define MAVLINK_MSG_ID_DEBUG_CRC 46
  16 #define MAVLINK_MSG_ID_254_CRC 46
  17
  18
  19
  20 #define MAVLINK_MESSAGE_INFO_DEBUG { \
  21         "DEBUG", \
  22         3, \
  23         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
  24          { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
  25          { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
  26          } \
  27 }
  28
  29
  30 /**
  31  * @brief Pack a debug message
  32  * @param system_id ID of this system
  33  * @param component_id ID of this component (e.g. 200 for IMU)
  34  * @param msg The MAVLink message to compress the data into
  35  *
  36  * @param time_boot_ms Timestamp (milliseconds since system boot)
  37  * @param ind index of debug variable
  38  * @param value DEBUG value
  39  * @return length of the message in bytes (excluding serial stream start sign)
  40  */
  41 static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  42                                                        uint32_t time_boot_ms, uint8_t ind, float value)
  43 {
  44 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  45         char buf[MAVLINK_MSG_ID_DEBUG_LEN];
  46         _mav_put_uint32_t(buf, 0, time_boot_ms);
  47         _mav_put_float(buf, 4, value);
  48         _mav_put_uint8_t(buf, 8, ind);
  49
  50         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
  51 #else
  52         mavlink_debug_t packet;
  53         packet.time_boot_ms = time_boot_ms;
  54         packet.value = value;
  55         packet.ind = ind;
  56
  57         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
  58 #endif
  59
  60         msg->msgid = MAVLINK_MSG_ID_DEBUG;
  61 #if MAVLINK_CRC_EXTRA
  62     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
  63 #else
  64     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN);
  65 #endif
  66 }
  67
  68 /**
  69  * @brief Pack a debug message on a channel
  70  * @param system_id ID of this system
  71  * @param component_id ID of this component (e.g. 200 for IMU)
  72  * @param chan The MAVLink channel this message will be sent over
  73  * @param msg The MAVLink message to compress the data into
  74  * @param time_boot_ms Timestamp (milliseconds since system boot)
  75  * @param ind index of debug variable
  76  * @param value DEBUG value
  77  * @return length of the message in bytes (excluding serial stream start sign)
  78  */
  79 static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  80                                                            mavlink_message_t* msg,
  81                                                            uint32_t time_boot_ms,uint8_t ind,float value)
  82 {
  83 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  84         char buf[MAVLINK_MSG_ID_DEBUG_LEN];
  85         _mav_put_uint32_t(buf, 0, time_boot_ms);
  86         _mav_put_float(buf, 4, value);
  87         _mav_put_uint8_t(buf, 8, ind);
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
  90 #else
  91         mavlink_debug_t packet;
  92         packet.time_boot_ms = time_boot_ms;
  93         packet.value = value;
  94         packet.ind = ind;
  95
  96         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
  97 #endif
  98
  99         msg->msgid = MAVLINK_MSG_ID_DEBUG;
 100 #if MAVLINK_CRC_EXTRA
 101     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 102 #else
 103     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN);
 104 #endif
 105 }
 106
 107 /**
 108  * @brief Encode a debug struct
 109  *
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param msg The MAVLink message to compress the data into
 113  * @param debug C-struct to read the message contents from
 114  */
 115 static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
 116 {
 117         return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value);
 118 }
 119
 120 /**
 121  * @brief Encode a debug struct on a channel
 122  *
 123  * @param system_id ID of this system
 124  * @param component_id ID of this component (e.g. 200 for IMU)
 125  * @param chan The MAVLink channel this message will be sent over
 126  * @param msg The MAVLink message to compress the data into
 127  * @param debug C-struct to read the message contents from
 128  */
 129 static inline uint16_t mavlink_msg_debug_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_t* debug)
 130 {
 131         return mavlink_msg_debug_pack_chan(system_id, component_id, chan, msg, debug->time_boot_ms, debug->ind, debug->value);
 132 }
 133
 134 /**
 135  * @brief Send a debug message
 136  * @param chan MAVLink channel to send the message
 137  *
 138  * @param time_boot_ms Timestamp (milliseconds since system boot)
 139  * @param ind index of debug variable
 140  * @param value DEBUG value
 141  */
 142 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 143
 144 static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
 145 {
 146 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 147         char buf[MAVLINK_MSG_ID_DEBUG_LEN];
 148         _mav_put_uint32_t(buf, 0, time_boot_ms);
 149         _mav_put_float(buf, 4, value);
 150         _mav_put_uint8_t(buf, 8, ind);
 151
 152 #if MAVLINK_CRC_EXTRA
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 154 #else
 155     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN);
 156 #endif
 157 #else
 158         mavlink_debug_t packet;
 159         packet.time_boot_ms = time_boot_ms;
 160         packet.value = value;
 161         packet.ind = ind;
 162
 163 #if MAVLINK_CRC_EXTRA
 164     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 165 #else
 166     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_LEN);
 167 #endif
 168 #endif
 169 }
 170
 171 #if MAVLINK_MSG_ID_DEBUG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 172 /*
 173   This varient of _send() can be used to save stack space by re-using
 174   memory from the receive buffer.  The caller provides a
 175   mavlink_message_t which is the size of a full mavlink message. This
 176   is usually the receive buffer for the channel, and allows a reply to an
 177   incoming message with minimum stack space usage.
 178  */
 179 static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t ind, float value)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 182         char *buf = (char *)msgbuf;
 183         _mav_put_uint32_t(buf, 0, time_boot_ms);
 184         _mav_put_float(buf, 4, value);
 185         _mav_put_uint8_t(buf, 8, ind);
 186
 187 #if MAVLINK_CRC_EXTRA
 188     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 189 #else
 190     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN);
 191 #endif
 192 #else
 193         mavlink_debug_t *packet = (mavlink_debug_t *)msgbuf;
 194         packet->time_boot_ms = time_boot_ms;
 195         packet->value = value;
 196         packet->ind = ind;
 197
 198 #if MAVLINK_CRC_EXTRA
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 200 #else
 201     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_LEN);
 202 #endif
 203 #endif
 204 }
 205 #endif
 206
 207 #endif
 208
 209 // MESSAGE DEBUG UNPACKING
 210
 211
 212 /**
 213  * @brief Get field time_boot_ms from debug message
 214  *
 215  * @return Timestamp (milliseconds since system boot)
 216  */
 217 static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
 218 {
 219         return _MAV_RETURN_uint32_t(msg,  0);
 220 }
 221
 222 /**
 223  * @brief Get field ind from debug message
 224  *
 225  * @return index of debug variable
 226  */
 227 static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
 228 {
 229         return _MAV_RETURN_uint8_t(msg,  8);
 230 }
 231
 232 /**
 233  * @brief Get field value from debug message
 234  *
 235  * @return DEBUG value
 236  */
 237 static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
 238 {
 239         return _MAV_RETURN_float(msg,  4);
 240 }
 241
 242 /**
 243  * @brief Decode a debug message into a struct
 244  *
 245  * @param msg The message to decode
 246  * @param debug C-struct to decode the message contents into
 247  */
 248 static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
 249 {
 250 #if MAVLINK_NEED_BYTE_SWAP
 251         debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
 252         debug->value = mavlink_msg_debug_get_value(msg);
 253         debug->ind = mavlink_msg_debug_get_ind(msg);
 254 #else
 255         memcpy(debug, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DEBUG_LEN);
 256 #endif
 257 }