lib/main/MAVLink/common/mavlink_msg_log_data.h

   1 #pragma once
   2 // MESSAGE LOG_DATA PACKING
   3
   4 #define MAVLINK_MSG_ID_LOG_DATA 120
   5
   6
   7 typedef struct __mavlink_log_data_t {
   8  uint32_t ofs; /*<  Offset into the log*/
   9  uint16_t id; /*<  Log id (from LOG_ENTRY reply)*/
  10  uint8_t count; /*< [bytes] Number of bytes (zero for end of log)*/
  11  uint8_t data[90]; /*<  log data*/
  12 } mavlink_log_data_t;
  13
  14 #define MAVLINK_MSG_ID_LOG_DATA_LEN 97
  15 #define MAVLINK_MSG_ID_LOG_DATA_MIN_LEN 97
  16 #define MAVLINK_MSG_ID_120_LEN 97
  17 #define MAVLINK_MSG_ID_120_MIN_LEN 97
  18
  19 #define MAVLINK_MSG_ID_LOG_DATA_CRC 134
  20 #define MAVLINK_MSG_ID_120_CRC 134
  21
  22 #define MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN 90
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_LOG_DATA { \
  26     120, \
  27     "LOG_DATA", \
  28     4, \
  29     {  { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
  30          { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
  31          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
  32          { "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_LOG_DATA { \
  37     "LOG_DATA", \
  38     4, \
  39     {  { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
  40          { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
  41          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
  42          { "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a log_data message
  49  * @param system_id ID of this system
  50  * @param component_id ID of this component (e.g. 200 for IMU)
  51  * @param msg The MAVLink message to compress the data into
  52  *
  53  * @param id  Log id (from LOG_ENTRY reply)
  54  * @param ofs  Offset into the log
  55  * @param count [bytes] Number of bytes (zero for end of log)
  56  * @param data  log data
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_log_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
  64     _mav_put_uint32_t(buf, 0, ofs);
  65     _mav_put_uint16_t(buf, 4, id);
  66     _mav_put_uint8_t(buf, 6, count);
  67     _mav_put_uint8_t_array(buf, 7, data, 90);
  68         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
  69 #else
  70     mavlink_log_data_t packet;
  71     packet.ofs = ofs;
  72     packet.id = id;
  73     packet.count = count;
  74     mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
  75         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
  76 #endif
  77
  78     msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
  79     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
  80 }
  81
  82 /**
  83  * @brief Pack a log_data message on a channel
  84  * @param system_id ID of this system
  85  * @param component_id ID of this component (e.g. 200 for IMU)
  86  * @param chan The MAVLink channel this message will be sent over
  87  * @param msg The MAVLink message to compress the data into
  88  * @param id  Log id (from LOG_ENTRY reply)
  89  * @param ofs  Offset into the log
  90  * @param count [bytes] Number of bytes (zero for end of log)
  91  * @param data  log data
  92  * @return length of the message in bytes (excluding serial stream start sign)
  93  */
  94 static inline uint16_t mavlink_msg_log_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  95                                mavlink_message_t* msg,
  96                                    uint16_t id,uint32_t ofs,uint8_t count,const uint8_t *data)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
 100     _mav_put_uint32_t(buf, 0, ofs);
 101     _mav_put_uint16_t(buf, 4, id);
 102     _mav_put_uint8_t(buf, 6, count);
 103     _mav_put_uint8_t_array(buf, 7, data, 90);
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
 105 #else
 106     mavlink_log_data_t packet;
 107     packet.ofs = ofs;
 108     packet.id = id;
 109     packet.count = count;
 110     mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
 111         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
 112 #endif
 113
 114     msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 116 }
 117
 118 /**
 119  * @brief Encode a log_data struct
 120  *
 121  * @param system_id ID of this system
 122  * @param component_id ID of this component (e.g. 200 for IMU)
 123  * @param msg The MAVLink message to compress the data into
 124  * @param log_data C-struct to read the message contents from
 125  */
 126 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)
 127 {
 128     return mavlink_msg_log_data_pack(system_id, component_id, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
 129 }
 130
 131 /**
 132  * @brief Encode a log_data struct on a channel
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param chan The MAVLink channel this message will be sent over
 137  * @param msg The MAVLink message to compress the data into
 138  * @param log_data C-struct to read the message contents from
 139  */
 140 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)
 141 {
 142     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);
 143 }
 144
 145 /**
 146  * @brief Send a log_data message
 147  * @param chan MAVLink channel to send the message
 148  *
 149  * @param id  Log id (from LOG_ENTRY reply)
 150  * @param ofs  Offset into the log
 151  * @param count [bytes] Number of bytes (zero for end of log)
 152  * @param data  log data
 153  */
 154 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 155
 156 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)
 157 {
 158 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 159     char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
 160     _mav_put_uint32_t(buf, 0, ofs);
 161     _mav_put_uint16_t(buf, 4, id);
 162     _mav_put_uint8_t(buf, 6, count);
 163     _mav_put_uint8_t_array(buf, 7, data, 90);
 164     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 165 #else
 166     mavlink_log_data_t packet;
 167     packet.ofs = ofs;
 168     packet.id = id;
 169     packet.count = count;
 170     mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
 171     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 172 #endif
 173 }
 174
 175 /**
 176  * @brief Send a log_data message
 177  * @param chan MAVLink channel to send the message
 178  * @param struct The MAVLink struct to serialize
 179  */
 180 static inline void mavlink_msg_log_data_send_struct(mavlink_channel_t chan, const mavlink_log_data_t* log_data)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     mavlink_msg_log_data_send(chan, log_data->id, log_data->ofs, log_data->count, log_data->data);
 184 #else
 185     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)log_data, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 186 #endif
 187 }
 188
 189 #if MAVLINK_MSG_ID_LOG_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 190 /*
 191   This varient of _send() can be used to save stack space by re-using
 192   memory from the receive buffer.  The caller provides a
 193   mavlink_message_t which is the size of a full mavlink message. This
 194   is usually the receive buffer for the channel, and allows a reply to an
 195   incoming message with minimum stack space usage.
 196  */
 197 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)
 198 {
 199 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 200     char *buf = (char *)msgbuf;
 201     _mav_put_uint32_t(buf, 0, ofs);
 202     _mav_put_uint16_t(buf, 4, id);
 203     _mav_put_uint8_t(buf, 6, count);
 204     _mav_put_uint8_t_array(buf, 7, data, 90);
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 206 #else
 207     mavlink_log_data_t *packet = (mavlink_log_data_t *)msgbuf;
 208     packet->ofs = ofs;
 209     packet->id = id;
 210     packet->count = count;
 211     mav_array_memcpy(packet->data, data, sizeof(uint8_t)*90);
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
 213 #endif
 214 }
 215 #endif
 216
 217 #endif
 218
 219 // MESSAGE LOG_DATA UNPACKING
 220
 221
 222 /**
 223  * @brief Get field id from log_data message
 224  *
 225  * @return  Log id (from LOG_ENTRY reply)
 226  */
 227 static inline uint16_t mavlink_msg_log_data_get_id(const mavlink_message_t* msg)
 228 {
 229     return _MAV_RETURN_uint16_t(msg,  4);
 230 }
 231
 232 /**
 233  * @brief Get field ofs from log_data message
 234  *
 235  * @return  Offset into the log
 236  */
 237 static inline uint32_t mavlink_msg_log_data_get_ofs(const mavlink_message_t* msg)
 238 {
 239     return _MAV_RETURN_uint32_t(msg,  0);
 240 }
 241
 242 /**
 243  * @brief Get field count from log_data message
 244  *
 245  * @return [bytes] Number of bytes (zero for end of log)
 246  */
 247 static inline uint8_t mavlink_msg_log_data_get_count(const mavlink_message_t* msg)
 248 {
 249     return _MAV_RETURN_uint8_t(msg,  6);
 250 }
 251
 252 /**
 253  * @brief Get field data from log_data message
 254  *
 255  * @return  log data
 256  */
 257 static inline uint16_t mavlink_msg_log_data_get_data(const mavlink_message_t* msg, uint8_t *data)
 258 {
 259     return _MAV_RETURN_uint8_t_array(msg, data, 90,  7);
 260 }
 261
 262 /**
 263  * @brief Decode a log_data message into a struct
 264  *
 265  * @param msg The message to decode
 266  * @param log_data C-struct to decode the message contents into
 267  */
 268 static inline void mavlink_msg_log_data_decode(const mavlink_message_t* msg, mavlink_log_data_t* log_data)
 269 {
 270 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 271     log_data->ofs = mavlink_msg_log_data_get_ofs(msg);
 272     log_data->id = mavlink_msg_log_data_get_id(msg);
 273     log_data->count = mavlink_msg_log_data_get_count(msg);
 274     mavlink_msg_log_data_get_data(msg, log_data->data);
 275 #else
 276         uint8_t len = msg->len < MAVLINK_MSG_ID_LOG_DATA_LEN? msg->len : MAVLINK_MSG_ID_LOG_DATA_LEN;
 277         memset(log_data, 0, MAVLINK_MSG_ID_LOG_DATA_LEN);
 278     memcpy(log_data, _MAV_PAYLOAD(msg), len);
 279 #endif
 280 }