lib/main/MAVLink/common/mavlink_msg_log_data.h

   1 // MESSAGE LOG_DATA PACKING
   2
   3 #define MAVLINK_MSG_ID_LOG_DATA 120
   4
   5 typedef struct __mavlink_log_data_t
   6 {
   7  uint32_t ofs; ///< Offset into the log
   8  uint16_t id; ///< Log id (from LOG_ENTRY reply)
   9  uint8_t count; ///< Number of bytes (zero for end of log)
  10  uint8_t data[90]; ///< log data
  11 } mavlink_log_data_t;
  12
  13 #define MAVLINK_MSG_ID_LOG_DATA_LEN 97
  14 #define MAVLINK_MSG_ID_120_LEN 97
  15
  16 #define MAVLINK_MSG_ID_LOG_DATA_CRC 134
  17 #define MAVLINK_MSG_ID_120_CRC 134
  18
  19 #define MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN 90
  20
  21 #define MAVLINK_MESSAGE_INFO_LOG_DATA { \
  22         "LOG_DATA", \
  23         4, \
  24         {  { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
  25          { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
  26          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
  27          { "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
  28          } \
  29 }
  30
  31
  32 /**
  33  * @brief Pack a log_data message
  34  * @param system_id ID of this system
  35  * @param component_id ID of this component (e.g. 200 for IMU)
  36  * @param msg The MAVLink message to compress the data into
  37  *
  38  * @param id Log id (from LOG_ENTRY reply)
  39  * @param ofs Offset into the log
  40  * @param count Number of bytes (zero for end of log)
  41  * @param data log data
  42  * @return length of the message in bytes (excluding serial stream start sign)
  43  */
  44 static inline uint16_t mavlink_msg_log_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  45                                                        uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
  46 {
  47 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  48         char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
  49         _mav_put_uint32_t(buf, 0, ofs);
  50         _mav_put_uint16_t(buf, 4, id);
  51         _mav_put_uint8_t(buf, 6, count);
  52         _mav_put_uint8_t_array(buf, 7, data, 90);
  53         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
  54 #else
  55         mavlink_log_data_t packet;
  56         packet.ofs = ofs;
  57         packet.id = id;
  58         packet.count = count;
  59         mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
  60         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
  61 #endif
  62
  63         msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
  64 #if MAVLINK_CRC_EXTRA
  65     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
  66 #else
  67     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN);
  68 #endif
  69 }
  70
  71 /**
  72  * @brief Pack a log_data message on a channel
  73  * @param system_id ID of this system
  74  * @param component_id ID of this component (e.g. 200 for IMU)
  75  * @param chan The MAVLink channel this message will be sent over
  76  * @param msg The MAVLink message to compress the data into
  77  * @param id Log id (from LOG_ENTRY reply)
  78  * @param ofs Offset into the log
  79  * @param count Number of bytes (zero for end of log)
  80  * @param data log data
  81  * @return length of the message in bytes (excluding serial stream start sign)
  82  */
  83 static inline uint16_t mavlink_msg_log_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  84                                                            mavlink_message_t* msg,
  85                                                            uint16_t id,uint32_t ofs,uint8_t count,const uint8_t *data)
  86 {
  87 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  88         char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
  89         _mav_put_uint32_t(buf, 0, ofs);
  90         _mav_put_uint16_t(buf, 4, id);
  91         _mav_put_uint8_t(buf, 6, count);
  92         _mav_put_uint8_t_array(buf, 7, data, 90);
  93         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
  94 #else
  95         mavlink_log_data_t packet;
  96         packet.ofs = ofs;
  97         packet.id = id;
  98         packet.count = count;
  99         mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
 100         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
 101 #endif
 102
 103         msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
 104 #if MAVLINK_CRC_EXTRA
 105     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 106 #else
 107     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN);
 108 #endif
 109 }
 110
 111 /**
 112  * @brief Encode a log_data struct
 113  *
 114  * @param system_id ID of this system
 115  * @param component_id ID of this component (e.g. 200 for IMU)
 116  * @param msg The MAVLink message to compress the data into
 117  * @param log_data C-struct to read the message contents from
 118  */
 119 static inline uint16_t mavlink_msg_log_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
 120 {
 121         return mavlink_msg_log_data_pack(system_id, component_id, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
 122 }
 123
 124 /**
 125  * @brief Encode a log_data struct on a channel
 126  *
 127  * @param system_id ID of this system
 128  * @param component_id ID of this component (e.g. 200 for IMU)
 129  * @param chan The MAVLink channel this message will be sent over
 130  * @param msg The MAVLink message to compress the data into
 131  * @param log_data C-struct to read the message contents from
 132  */
 133 static inline uint16_t mavlink_msg_log_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
 134 {
 135         return mavlink_msg_log_data_pack_chan(system_id, component_id, chan, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
 136 }
 137
 138 /**
 139  * @brief Send a log_data message
 140  * @param chan MAVLink channel to send the message
 141  *
 142  * @param id Log id (from LOG_ENTRY reply)
 143  * @param ofs Offset into the log
 144  * @param count Number of bytes (zero for end of log)
 145  * @param data log data
 146  */
 147 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 148
 149 static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
 150 {
 151 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 152         char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
 153         _mav_put_uint32_t(buf, 0, ofs);
 154         _mav_put_uint16_t(buf, 4, id);
 155         _mav_put_uint8_t(buf, 6, count);
 156         _mav_put_uint8_t_array(buf, 7, data, 90);
 157 #if MAVLINK_CRC_EXTRA
 158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 159 #else
 160     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
 161 #endif
 162 #else
 163         mavlink_log_data_t packet;
 164         packet.ofs = ofs;
 165         packet.id = id;
 166         packet.count = count;
 167         mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
 168 #if MAVLINK_CRC_EXTRA
 169     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 170 #else
 171     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
 172 #endif
 173 #endif
 174 }
 175
 176 #if MAVLINK_MSG_ID_LOG_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 177 /*
 178   This varient of _send() can be used to save stack space by re-using
 179   memory from the receive buffer.  The caller provides a
 180   mavlink_message_t which is the size of a full mavlink message. This
 181   is usually the receive buffer for the channel, and allows a reply to an
 182   incoming message with minimum stack space usage.
 183  */
 184 static inline void mavlink_msg_log_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
 185 {
 186 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 187         char *buf = (char *)msgbuf;
 188         _mav_put_uint32_t(buf, 0, ofs);
 189         _mav_put_uint16_t(buf, 4, id);
 190         _mav_put_uint8_t(buf, 6, count);
 191         _mav_put_uint8_t_array(buf, 7, data, 90);
 192 #if MAVLINK_CRC_EXTRA
 193     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 194 #else
 195     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
 196 #endif
 197 #else
 198         mavlink_log_data_t *packet = (mavlink_log_data_t *)msgbuf;
 199         packet->ofs = ofs;
 200         packet->id = id;
 201         packet->count = count;
 202         mav_array_memcpy(packet->data, data, sizeof(uint8_t)*90);
 203 #if MAVLINK_CRC_EXTRA
 204     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 205 #else
 206     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
 207 #endif
 208 #endif
 209 }
 210 #endif
 211
 212 #endif
 213
 214 // MESSAGE LOG_DATA UNPACKING
 215
 216
 217 /**
 218  * @brief Get field id from log_data message
 219  *
 220  * @return Log id (from LOG_ENTRY reply)
 221  */
 222 static inline uint16_t mavlink_msg_log_data_get_id(const mavlink_message_t* msg)
 223 {
 224         return _MAV_RETURN_uint16_t(msg,  4);
 225 }
 226
 227 /**
 228  * @brief Get field ofs from log_data message
 229  *
 230  * @return Offset into the log
 231  */
 232 static inline uint32_t mavlink_msg_log_data_get_ofs(const mavlink_message_t* msg)
 233 {
 234         return _MAV_RETURN_uint32_t(msg,  0);
 235 }
 236
 237 /**
 238  * @brief Get field count from log_data message
 239  *
 240  * @return Number of bytes (zero for end of log)
 241  */
 242 static inline uint8_t mavlink_msg_log_data_get_count(const mavlink_message_t* msg)
 243 {
 244         return _MAV_RETURN_uint8_t(msg,  6);
 245 }
 246
 247 /**
 248  * @brief Get field data from log_data message
 249  *
 250  * @return log data
 251  */
 252 static inline uint16_t mavlink_msg_log_data_get_data(const mavlink_message_t* msg, uint8_t *data)
 253 {
 254         return _MAV_RETURN_uint8_t_array(msg, data, 90,  7);
 255 }
 256
 257 /**
 258  * @brief Decode a log_data message into a struct
 259  *
 260  * @param msg The message to decode
 261  * @param log_data C-struct to decode the message contents into
 262  */
 263 static inline void mavlink_msg_log_data_decode(const mavlink_message_t* msg, mavlink_log_data_t* log_data)
 264 {
 265 #if MAVLINK_NEED_BYTE_SWAP
 266         log_data->ofs = mavlink_msg_log_data_get_ofs(msg);
 267         log_data->id = mavlink_msg_log_data_get_id(msg);
 268         log_data->count = mavlink_msg_log_data_get_count(msg);
 269         mavlink_msg_log_data_get_data(msg, log_data->data);
 270 #else
 271         memcpy(log_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_DATA_LEN);
 272 #endif
 273 }