lib/main/MAVLink/common/mavlink_msg_timesync.h

   1 // MESSAGE TIMESYNC PACKING
   2
   3 #define MAVLINK_MSG_ID_TIMESYNC 111
   4
   5 typedef struct __mavlink_timesync_t
   6 {
   7  int64_t tc1; ///< Time sync timestamp 1
   8  int64_t ts1; ///< Time sync timestamp 2
   9 } mavlink_timesync_t;
  10
  11 #define MAVLINK_MSG_ID_TIMESYNC_LEN 16
  12 #define MAVLINK_MSG_ID_111_LEN 16
  13
  14 #define MAVLINK_MSG_ID_TIMESYNC_CRC 34
  15 #define MAVLINK_MSG_ID_111_CRC 34
  16
  17
  18
  19 #define MAVLINK_MESSAGE_INFO_TIMESYNC { \
  20         "TIMESYNC", \
  21         2, \
  22         {  { "tc1", NULL, MAVLINK_TYPE_INT64_T, 0, 0, offsetof(mavlink_timesync_t, tc1) }, \
  23          { "ts1", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_timesync_t, ts1) }, \
  24          } \
  25 }
  26
  27
  28 /**
  29  * @brief Pack a timesync message
  30  * @param system_id ID of this system
  31  * @param component_id ID of this component (e.g. 200 for IMU)
  32  * @param msg The MAVLink message to compress the data into
  33  *
  34  * @param tc1 Time sync timestamp 1
  35  * @param ts1 Time sync timestamp 2
  36  * @return length of the message in bytes (excluding serial stream start sign)
  37  */
  38 static inline uint16_t mavlink_msg_timesync_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  39                                                        int64_t tc1, int64_t ts1)
  40 {
  41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  42         char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
  43         _mav_put_int64_t(buf, 0, tc1);
  44         _mav_put_int64_t(buf, 8, ts1);
  45
  46         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
  47 #else
  48         mavlink_timesync_t packet;
  49         packet.tc1 = tc1;
  50         packet.ts1 = ts1;
  51
  52         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
  53 #endif
  54
  55         msg->msgid = MAVLINK_MSG_ID_TIMESYNC;
  56 #if MAVLINK_CRC_EXTRA
  57     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
  58 #else
  59     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TIMESYNC_LEN);
  60 #endif
  61 }
  62
  63 /**
  64  * @brief Pack a timesync message on a channel
  65  * @param system_id ID of this system
  66  * @param component_id ID of this component (e.g. 200 for IMU)
  67  * @param chan The MAVLink channel this message will be sent over
  68  * @param msg The MAVLink message to compress the data into
  69  * @param tc1 Time sync timestamp 1
  70  * @param ts1 Time sync timestamp 2
  71  * @return length of the message in bytes (excluding serial stream start sign)
  72  */
  73 static inline uint16_t mavlink_msg_timesync_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  74                                                            mavlink_message_t* msg,
  75                                                            int64_t tc1,int64_t ts1)
  76 {
  77 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  78         char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
  79         _mav_put_int64_t(buf, 0, tc1);
  80         _mav_put_int64_t(buf, 8, ts1);
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
  83 #else
  84         mavlink_timesync_t packet;
  85         packet.tc1 = tc1;
  86         packet.ts1 = ts1;
  87
  88         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
  89 #endif
  90
  91         msg->msgid = MAVLINK_MSG_ID_TIMESYNC;
  92 #if MAVLINK_CRC_EXTRA
  93     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
  94 #else
  95     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TIMESYNC_LEN);
  96 #endif
  97 }
  98
  99 /**
 100  * @brief Encode a timesync struct
 101  *
 102  * @param system_id ID of this system
 103  * @param component_id ID of this component (e.g. 200 for IMU)
 104  * @param msg The MAVLink message to compress the data into
 105  * @param timesync C-struct to read the message contents from
 106  */
 107 static inline uint16_t mavlink_msg_timesync_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_timesync_t* timesync)
 108 {
 109         return mavlink_msg_timesync_pack(system_id, component_id, msg, timesync->tc1, timesync->ts1);
 110 }
 111
 112 /**
 113  * @brief Encode a timesync struct on a channel
 114  *
 115  * @param system_id ID of this system
 116  * @param component_id ID of this component (e.g. 200 for IMU)
 117  * @param chan The MAVLink channel this message will be sent over
 118  * @param msg The MAVLink message to compress the data into
 119  * @param timesync C-struct to read the message contents from
 120  */
 121 static inline uint16_t mavlink_msg_timesync_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_timesync_t* timesync)
 122 {
 123         return mavlink_msg_timesync_pack_chan(system_id, component_id, chan, msg, timesync->tc1, timesync->ts1);
 124 }
 125
 126 /**
 127  * @brief Send a timesync message
 128  * @param chan MAVLink channel to send the message
 129  *
 130  * @param tc1 Time sync timestamp 1
 131  * @param ts1 Time sync timestamp 2
 132  */
 133 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 134
 135 static inline void mavlink_msg_timesync_send(mavlink_channel_t chan, int64_t tc1, int64_t ts1)
 136 {
 137 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 138         char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
 139         _mav_put_int64_t(buf, 0, tc1);
 140         _mav_put_int64_t(buf, 8, ts1);
 141
 142 #if MAVLINK_CRC_EXTRA
 143     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 144 #else
 145     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
 146 #endif
 147 #else
 148         mavlink_timesync_t packet;
 149         packet.tc1 = tc1;
 150         packet.ts1 = ts1;
 151
 152 #if MAVLINK_CRC_EXTRA
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)&packet, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 154 #else
 155     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)&packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
 156 #endif
 157 #endif
 158 }
 159
 160 #if MAVLINK_MSG_ID_TIMESYNC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 161 /*
 162   This varient of _send() can be used to save stack space by re-using
 163   memory from the receive buffer.  The caller provides a
 164   mavlink_message_t which is the size of a full mavlink message. This
 165   is usually the receive buffer for the channel, and allows a reply to an
 166   incoming message with minimum stack space usage.
 167  */
 168 static inline void mavlink_msg_timesync_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int64_t tc1, int64_t ts1)
 169 {
 170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 171         char *buf = (char *)msgbuf;
 172         _mav_put_int64_t(buf, 0, tc1);
 173         _mav_put_int64_t(buf, 8, ts1);
 174
 175 #if MAVLINK_CRC_EXTRA
 176     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 177 #else
 178     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
 179 #endif
 180 #else
 181         mavlink_timesync_t *packet = (mavlink_timesync_t *)msgbuf;
 182         packet->tc1 = tc1;
 183         packet->ts1 = ts1;
 184
 185 #if MAVLINK_CRC_EXTRA
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)packet, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 187 #else
 188     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
 189 #endif
 190 #endif
 191 }
 192 #endif
 193
 194 #endif
 195
 196 // MESSAGE TIMESYNC UNPACKING
 197
 198
 199 /**
 200  * @brief Get field tc1 from timesync message
 201  *
 202  * @return Time sync timestamp 1
 203  */
 204 static inline int64_t mavlink_msg_timesync_get_tc1(const mavlink_message_t* msg)
 205 {
 206         return _MAV_RETURN_int64_t(msg,  0);
 207 }
 208
 209 /**
 210  * @brief Get field ts1 from timesync message
 211  *
 212  * @return Time sync timestamp 2
 213  */
 214 static inline int64_t mavlink_msg_timesync_get_ts1(const mavlink_message_t* msg)
 215 {
 216         return _MAV_RETURN_int64_t(msg,  8);
 217 }
 218
 219 /**
 220  * @brief Decode a timesync message into a struct
 221  *
 222  * @param msg The message to decode
 223  * @param timesync C-struct to decode the message contents into
 224  */
 225 static inline void mavlink_msg_timesync_decode(const mavlink_message_t* msg, mavlink_timesync_t* timesync)
 226 {
 227 #if MAVLINK_NEED_BYTE_SWAP
 228         timesync->tc1 = mavlink_msg_timesync_get_tc1(msg);
 229         timesync->ts1 = mavlink_msg_timesync_get_ts1(msg);
 230 #else
 231         memcpy(timesync, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_TIMESYNC_LEN);
 232 #endif
 233 }