lib/main/MAVLink/common/mavlink_msg_heartbeat.h

   1 #pragma once
   2 // MESSAGE HEARTBEAT PACKING
   3
   4 #define MAVLINK_MSG_ID_HEARTBEAT 0
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_heartbeat_t {
   8  uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/
   9  uint8_t type; /*< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)*/
  10  uint8_t autopilot; /*< Autopilot type / class. defined in MAV_AUTOPILOT ENUM*/
  11  uint8_t base_mode; /*< System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h*/
  12  uint8_t system_status; /*< System status flag, see MAV_STATE ENUM*/
  13  uint8_t mavlink_version; /*< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version*/
  14 }) mavlink_heartbeat_t;
  15
  16 #define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
  17 #define MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN 9
  18 #define MAVLINK_MSG_ID_0_LEN 9
  19 #define MAVLINK_MSG_ID_0_MIN_LEN 9
  20
  21 #define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
  22 #define MAVLINK_MSG_ID_0_CRC 50
  23
  24
  25
  26 #if MAVLINK_COMMAND_24BIT
  27 #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
  28     0, \
  29     "HEARTBEAT", \
  30     6, \
  31     {  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
  32          { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
  33          { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
  34          { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
  35          { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
  36          { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
  37          } \
  38 }
  39 #else
  40 #define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
  41     "HEARTBEAT", \
  42     6, \
  43     {  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
  44          { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
  45          { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
  46          { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
  47          { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
  48          { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
  49          } \
  50 }
  51 #endif
  52
  53 /**
  54  * @brief Pack a heartbeat message
  55  * @param system_id ID of this system
  56  * @param component_id ID of this component (e.g. 200 for IMU)
  57  * @param msg The MAVLink message to compress the data into
  58  *
  59  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
  60  * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
  61  * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
  62  * @param custom_mode A bitfield for use for autopilot-specific flags.
  63  * @param system_status System status flag, see MAV_STATE ENUM
  64  * @return length of the message in bytes (excluding serial stream start sign)
  65  */
  66 static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  67                                uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
  68 {
  69 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  70     char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
  71     _mav_put_uint32_t(buf, 0, custom_mode);
  72     _mav_put_uint8_t(buf, 4, type);
  73     _mav_put_uint8_t(buf, 5, autopilot);
  74     _mav_put_uint8_t(buf, 6, base_mode);
  75     _mav_put_uint8_t(buf, 7, system_status);
  76     _mav_put_uint8_t(buf, 8, 3);
  77
  78         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  79 #else
  80     mavlink_heartbeat_t packet;
  81     packet.custom_mode = custom_mode;
  82     packet.type = type;
  83     packet.autopilot = autopilot;
  84     packet.base_mode = base_mode;
  85     packet.system_status = system_status;
  86     packet.mavlink_version = 3;
  87
  88         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
  89 #endif
  90
  91     msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
  92     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
  93 }
  94
  95 /**
  96  * @brief Pack a heartbeat message on a channel
  97  * @param system_id ID of this system
  98  * @param component_id ID of this component (e.g. 200 for IMU)
  99  * @param chan The MAVLink channel this message will be sent over
 100  * @param msg The MAVLink message to compress the data into
 101  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 102  * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 103  * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
 104  * @param custom_mode A bitfield for use for autopilot-specific flags.
 105  * @param system_status System status flag, see MAV_STATE ENUM
 106  * @return length of the message in bytes (excluding serial stream start sign)
 107  */
 108 static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 109                                mavlink_message_t* msg,
 110                                    uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
 111 {
 112 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 113     char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
 114     _mav_put_uint32_t(buf, 0, custom_mode);
 115     _mav_put_uint8_t(buf, 4, type);
 116     _mav_put_uint8_t(buf, 5, autopilot);
 117     _mav_put_uint8_t(buf, 6, base_mode);
 118     _mav_put_uint8_t(buf, 7, system_status);
 119     _mav_put_uint8_t(buf, 8, 3);
 120
 121         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
 122 #else
 123     mavlink_heartbeat_t packet;
 124     packet.custom_mode = custom_mode;
 125     packet.type = type;
 126     packet.autopilot = autopilot;
 127     packet.base_mode = base_mode;
 128     packet.system_status = system_status;
 129     packet.mavlink_version = 3;
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
 132 #endif
 133
 134     msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 135     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
 136 }
 137
 138 /**
 139  * @brief Encode a heartbeat struct
 140  *
 141  * @param system_id ID of this system
 142  * @param component_id ID of this component (e.g. 200 for IMU)
 143  * @param msg The MAVLink message to compress the data into
 144  * @param heartbeat C-struct to read the message contents from
 145  */
 146 static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
 147 {
 148     return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
 149 }
 150
 151 /**
 152  * @brief Encode a heartbeat struct on a channel
 153  *
 154  * @param system_id ID of this system
 155  * @param component_id ID of this component (e.g. 200 for IMU)
 156  * @param chan The MAVLink channel this message will be sent over
 157  * @param msg The MAVLink message to compress the data into
 158  * @param heartbeat C-struct to read the message contents from
 159  */
 160 static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
 161 {
 162     return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
 163 }
 164
 165 /**
 166  * @brief Send a heartbeat message
 167  * @param chan MAVLink channel to send the message
 168  *
 169  * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 170  * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 171  * @param base_mode System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
 172  * @param custom_mode A bitfield for use for autopilot-specific flags.
 173  * @param system_status System status flag, see MAV_STATE ENUM
 174  */
 175 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 176
 177 static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
 178 {
 179 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 180     char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
 181     _mav_put_uint32_t(buf, 0, custom_mode);
 182     _mav_put_uint8_t(buf, 4, type);
 183     _mav_put_uint8_t(buf, 5, autopilot);
 184     _mav_put_uint8_t(buf, 6, base_mode);
 185     _mav_put_uint8_t(buf, 7, system_status);
 186     _mav_put_uint8_t(buf, 8, 3);
 187
 188     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
 189 #else
 190     mavlink_heartbeat_t packet;
 191     packet.custom_mode = custom_mode;
 192     packet.type = type;
 193     packet.autopilot = autopilot;
 194     packet.base_mode = base_mode;
 195     packet.system_status = system_status;
 196     packet.mavlink_version = 3;
 197
 198     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
 199 #endif
 200 }
 201
 202 /**
 203  * @brief Send a heartbeat message
 204  * @param chan MAVLink channel to send the message
 205  * @param struct The MAVLink struct to serialize
 206  */
 207 static inline void mavlink_msg_heartbeat_send_struct(mavlink_channel_t chan, const mavlink_heartbeat_t* heartbeat)
 208 {
 209 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 210     mavlink_msg_heartbeat_send(chan, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
 211 #else
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)heartbeat, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
 213 #endif
 214 }
 215
 216 #if MAVLINK_MSG_ID_HEARTBEAT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 217 /*
 218   This varient of _send() can be used to save stack space by re-using
 219   memory from the receive buffer.  The caller provides a
 220   mavlink_message_t which is the size of a full mavlink message. This
 221   is usually the receive buffer for the channel, and allows a reply to an
 222   incoming message with minimum stack space usage.
 223  */
 224 static inline void mavlink_msg_heartbeat_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
 225 {
 226 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 227     char *buf = (char *)msgbuf;
 228     _mav_put_uint32_t(buf, 0, custom_mode);
 229     _mav_put_uint8_t(buf, 4, type);
 230     _mav_put_uint8_t(buf, 5, autopilot);
 231     _mav_put_uint8_t(buf, 6, base_mode);
 232     _mav_put_uint8_t(buf, 7, system_status);
 233     _mav_put_uint8_t(buf, 8, 3);
 234
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
 236 #else
 237     mavlink_heartbeat_t *packet = (mavlink_heartbeat_t *)msgbuf;
 238     packet->custom_mode = custom_mode;
 239     packet->type = type;
 240     packet->autopilot = autopilot;
 241     packet->base_mode = base_mode;
 242     packet->system_status = system_status;
 243     packet->mavlink_version = 3;
 244
 245     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)packet, MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
 246 #endif
 247 }
 248 #endif
 249
 250 #endif
 251
 252 // MESSAGE HEARTBEAT UNPACKING
 253
 254
 255 /**
 256  * @brief Get field type from heartbeat message
 257  *
 258  * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
 259  */
 260 static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
 261 {
 262     return _MAV_RETURN_uint8_t(msg,  4);
 263 }
 264
 265 /**
 266  * @brief Get field autopilot from heartbeat message
 267  *
 268  * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
 269  */
 270 static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
 271 {
 272     return _MAV_RETURN_uint8_t(msg,  5);
 273 }
 274
 275 /**
 276  * @brief Get field base_mode from heartbeat message
 277  *
 278  * @return System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
 279  */
 280 static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
 281 {
 282     return _MAV_RETURN_uint8_t(msg,  6);
 283 }
 284
 285 /**
 286  * @brief Get field custom_mode from heartbeat message
 287  *
 288  * @return A bitfield for use for autopilot-specific flags.
 289  */
 290 static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
 291 {
 292     return _MAV_RETURN_uint32_t(msg,  0);
 293 }
 294
 295 /**
 296  * @brief Get field system_status from heartbeat message
 297  *
 298  * @return System status flag, see MAV_STATE ENUM
 299  */
 300 static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
 301 {
 302     return _MAV_RETURN_uint8_t(msg,  7);
 303 }
 304
 305 /**
 306  * @brief Get field mavlink_version from heartbeat message
 307  *
 308  * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
 309  */
 310 static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
 311 {
 312     return _MAV_RETURN_uint8_t(msg,  8);
 313 }
 314
 315 /**
 316  * @brief Decode a heartbeat message into a struct
 317  *
 318  * @param msg The message to decode
 319  * @param heartbeat C-struct to decode the message contents into
 320  */
 321 static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
 322 {
 323 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 324     heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
 325     heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
 326     heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
 327     heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
 328     heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
 329     heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
 330 #else
 331         uint8_t len = msg->len < MAVLINK_MSG_ID_HEARTBEAT_LEN? msg->len : MAVLINK_MSG_ID_HEARTBEAT_LEN;
 332         memset(heartbeat, 0, MAVLINK_MSG_ID_HEARTBEAT_LEN);
 333     memcpy(heartbeat, _MAV_PAYLOAD(msg), len);
 334 #endif
 335 }