lib/main/MAVLink/common/mavlink_msg_serial_control.h

   1 #pragma once
   2 // MESSAGE SERIAL_CONTROL PACKING
   3
   4 #define MAVLINK_MSG_ID_SERIAL_CONTROL 126
   5
   6
   7 typedef struct __mavlink_serial_control_t {
   8  uint32_t baudrate; /*< [bits/s] Baudrate of transfer. Zero means no change.*/
   9  uint16_t timeout; /*< [ms] Timeout for reply data*/
  10  uint8_t device; /*<  Serial control device type.*/
  11  uint8_t flags; /*<  Bitmap of serial control flags.*/
  12  uint8_t count; /*< [bytes] how many bytes in this transfer*/
  13  uint8_t data[70]; /*<  serial data*/
  14 } mavlink_serial_control_t;
  15
  16 #define MAVLINK_MSG_ID_SERIAL_CONTROL_LEN 79
  17 #define MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN 79
  18 #define MAVLINK_MSG_ID_126_LEN 79
  19 #define MAVLINK_MSG_ID_126_MIN_LEN 79
  20
  21 #define MAVLINK_MSG_ID_SERIAL_CONTROL_CRC 220
  22 #define MAVLINK_MSG_ID_126_CRC 220
  23
  24 #define MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN 70
  25
  26 #if MAVLINK_COMMAND_24BIT
  27 #define MAVLINK_MESSAGE_INFO_SERIAL_CONTROL { \
  28     126, \
  29     "SERIAL_CONTROL", \
  30     6, \
  31     {  { "device", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_control_t, device) }, \
  32          { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_control_t, flags) }, \
  33          { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_serial_control_t, timeout) }, \
  34          { "baudrate", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_control_t, baudrate) }, \
  35          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_control_t, count) }, \
  36          { "data", NULL, MAVLINK_TYPE_UINT8_T, 70, 9, offsetof(mavlink_serial_control_t, data) }, \
  37          } \
  38 }
  39 #else
  40 #define MAVLINK_MESSAGE_INFO_SERIAL_CONTROL { \
  41     "SERIAL_CONTROL", \
  42     6, \
  43     {  { "device", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_control_t, device) }, \
  44          { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_control_t, flags) }, \
  45          { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_serial_control_t, timeout) }, \
  46          { "baudrate", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_control_t, baudrate) }, \
  47          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_control_t, count) }, \
  48          { "data", NULL, MAVLINK_TYPE_UINT8_T, 70, 9, offsetof(mavlink_serial_control_t, data) }, \
  49          } \
  50 }
  51 #endif
  52
  53 /**
  54  * @brief Pack a serial_control 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 device  Serial control device type.
  60  * @param flags  Bitmap of serial control flags.
  61  * @param timeout [ms] Timeout for reply data
  62  * @param baudrate [bits/s] Baudrate of transfer. Zero means no change.
  63  * @param count [bytes] how many bytes in this transfer
  64  * @param data  serial data
  65  * @return length of the message in bytes (excluding serial stream start sign)
  66  */
  67 static inline uint16_t mavlink_msg_serial_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  68                                uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data)
  69 {
  70 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  71     char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN];
  72     _mav_put_uint32_t(buf, 0, baudrate);
  73     _mav_put_uint16_t(buf, 4, timeout);
  74     _mav_put_uint8_t(buf, 6, device);
  75     _mav_put_uint8_t(buf, 7, flags);
  76     _mav_put_uint8_t(buf, 8, count);
  77     _mav_put_uint8_t_array(buf, 9, data, 70);
  78         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
  79 #else
  80     mavlink_serial_control_t packet;
  81     packet.baudrate = baudrate;
  82     packet.timeout = timeout;
  83     packet.device = device;
  84     packet.flags = flags;
  85     packet.count = count;
  86     mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
  87         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
  88 #endif
  89
  90     msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
  91     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
  92 }
  93
  94 /**
  95  * @brief Pack a serial_control message on a channel
  96  * @param system_id ID of this system
  97  * @param component_id ID of this component (e.g. 200 for IMU)
  98  * @param chan The MAVLink channel this message will be sent over
  99  * @param msg The MAVLink message to compress the data into
 100  * @param device  Serial control device type.
 101  * @param flags  Bitmap of serial control flags.
 102  * @param timeout [ms] Timeout for reply data
 103  * @param baudrate [bits/s] Baudrate of transfer. Zero means no change.
 104  * @param count [bytes] how many bytes in this transfer
 105  * @param data  serial data
 106  * @return length of the message in bytes (excluding serial stream start sign)
 107  */
 108 static inline uint16_t mavlink_msg_serial_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 109                                mavlink_message_t* msg,
 110                                    uint8_t device,uint8_t flags,uint16_t timeout,uint32_t baudrate,uint8_t count,const uint8_t *data)
 111 {
 112 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 113     char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN];
 114     _mav_put_uint32_t(buf, 0, baudrate);
 115     _mav_put_uint16_t(buf, 4, timeout);
 116     _mav_put_uint8_t(buf, 6, device);
 117     _mav_put_uint8_t(buf, 7, flags);
 118     _mav_put_uint8_t(buf, 8, count);
 119     _mav_put_uint8_t_array(buf, 9, data, 70);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
 121 #else
 122     mavlink_serial_control_t packet;
 123     packet.baudrate = baudrate;
 124     packet.timeout = timeout;
 125     packet.device = device;
 126     packet.flags = flags;
 127     packet.count = count;
 128     mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
 130 #endif
 131
 132     msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
 133     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
 134 }
 135
 136 /**
 137  * @brief Encode a serial_control struct
 138  *
 139  * @param system_id ID of this system
 140  * @param component_id ID of this component (e.g. 200 for IMU)
 141  * @param msg The MAVLink message to compress the data into
 142  * @param serial_control C-struct to read the message contents from
 143  */
 144 static inline uint16_t mavlink_msg_serial_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control)
 145 {
 146     return mavlink_msg_serial_control_pack(system_id, component_id, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
 147 }
 148
 149 /**
 150  * @brief Encode a serial_control struct on a channel
 151  *
 152  * @param system_id ID of this system
 153  * @param component_id ID of this component (e.g. 200 for IMU)
 154  * @param chan The MAVLink channel this message will be sent over
 155  * @param msg The MAVLink message to compress the data into
 156  * @param serial_control C-struct to read the message contents from
 157  */
 158 static inline uint16_t mavlink_msg_serial_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control)
 159 {
 160     return mavlink_msg_serial_control_pack_chan(system_id, component_id, chan, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
 161 }
 162
 163 /**
 164  * @brief Send a serial_control message
 165  * @param chan MAVLink channel to send the message
 166  *
 167  * @param device  Serial control device type.
 168  * @param flags  Bitmap of serial control flags.
 169  * @param timeout [ms] Timeout for reply data
 170  * @param baudrate [bits/s] Baudrate of transfer. Zero means no change.
 171  * @param count [bytes] how many bytes in this transfer
 172  * @param data  serial data
 173  */
 174 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 175
 176 static inline void mavlink_msg_serial_control_send(mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data)
 177 {
 178 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 179     char buf[MAVLINK_MSG_ID_SERIAL_CONTROL_LEN];
 180     _mav_put_uint32_t(buf, 0, baudrate);
 181     _mav_put_uint16_t(buf, 4, timeout);
 182     _mav_put_uint8_t(buf, 6, device);
 183     _mav_put_uint8_t(buf, 7, flags);
 184     _mav_put_uint8_t(buf, 8, count);
 185     _mav_put_uint8_t_array(buf, 9, data, 70);
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
 187 #else
 188     mavlink_serial_control_t packet;
 189     packet.baudrate = baudrate;
 190     packet.timeout = timeout;
 191     packet.device = device;
 192     packet.flags = flags;
 193     packet.count = count;
 194     mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
 195     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
 196 #endif
 197 }
 198
 199 /**
 200  * @brief Send a serial_control message
 201  * @param chan MAVLink channel to send the message
 202  * @param struct The MAVLink struct to serialize
 203  */
 204 static inline void mavlink_msg_serial_control_send_struct(mavlink_channel_t chan, const mavlink_serial_control_t* serial_control)
 205 {
 206 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 207     mavlink_msg_serial_control_send(chan, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
 208 #else
 209     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)serial_control, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
 210 #endif
 211 }
 212
 213 #if MAVLINK_MSG_ID_SERIAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 214 /*
 215   This varient of _send() can be used to save stack space by re-using
 216   memory from the receive buffer.  The caller provides a
 217   mavlink_message_t which is the size of a full mavlink message. This
 218   is usually the receive buffer for the channel, and allows a reply to an
 219   incoming message with minimum stack space usage.
 220  */
 221 static inline void mavlink_msg_serial_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, const uint8_t *data)
 222 {
 223 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 224     char *buf = (char *)msgbuf;
 225     _mav_put_uint32_t(buf, 0, baudrate);
 226     _mav_put_uint16_t(buf, 4, timeout);
 227     _mav_put_uint8_t(buf, 6, device);
 228     _mav_put_uint8_t(buf, 7, flags);
 229     _mav_put_uint8_t(buf, 8, count);
 230     _mav_put_uint8_t_array(buf, 9, data, 70);
 231     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
 232 #else
 233     mavlink_serial_control_t *packet = (mavlink_serial_control_t *)msgbuf;
 234     packet->baudrate = baudrate;
 235     packet->timeout = timeout;
 236     packet->device = device;
 237     packet->flags = flags;
 238     packet->count = count;
 239     mav_array_memcpy(packet->data, data, sizeof(uint8_t)*70);
 240     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
 241 #endif
 242 }
 243 #endif
 244
 245 #endif
 246
 247 // MESSAGE SERIAL_CONTROL UNPACKING
 248
 249
 250 /**
 251  * @brief Get field device from serial_control message
 252  *
 253  * @return  Serial control device type.
 254  */
 255 static inline uint8_t mavlink_msg_serial_control_get_device(const mavlink_message_t* msg)
 256 {
 257     return _MAV_RETURN_uint8_t(msg,  6);
 258 }
 259
 260 /**
 261  * @brief Get field flags from serial_control message
 262  *
 263  * @return  Bitmap of serial control flags.
 264  */
 265 static inline uint8_t mavlink_msg_serial_control_get_flags(const mavlink_message_t* msg)
 266 {
 267     return _MAV_RETURN_uint8_t(msg,  7);
 268 }
 269
 270 /**
 271  * @brief Get field timeout from serial_control message
 272  *
 273  * @return [ms] Timeout for reply data
 274  */
 275 static inline uint16_t mavlink_msg_serial_control_get_timeout(const mavlink_message_t* msg)
 276 {
 277     return _MAV_RETURN_uint16_t(msg,  4);
 278 }
 279
 280 /**
 281  * @brief Get field baudrate from serial_control message
 282  *
 283  * @return [bits/s] Baudrate of transfer. Zero means no change.
 284  */
 285 static inline uint32_t mavlink_msg_serial_control_get_baudrate(const mavlink_message_t* msg)
 286 {
 287     return _MAV_RETURN_uint32_t(msg,  0);
 288 }
 289
 290 /**
 291  * @brief Get field count from serial_control message
 292  *
 293  * @return [bytes] how many bytes in this transfer
 294  */
 295 static inline uint8_t mavlink_msg_serial_control_get_count(const mavlink_message_t* msg)
 296 {
 297     return _MAV_RETURN_uint8_t(msg,  8);
 298 }
 299
 300 /**
 301  * @brief Get field data from serial_control message
 302  *
 303  * @return  serial data
 304  */
 305 static inline uint16_t mavlink_msg_serial_control_get_data(const mavlink_message_t* msg, uint8_t *data)
 306 {
 307     return _MAV_RETURN_uint8_t_array(msg, data, 70,  9);
 308 }
 309
 310 /**
 311  * @brief Decode a serial_control message into a struct
 312  *
 313  * @param msg The message to decode
 314  * @param serial_control C-struct to decode the message contents into
 315  */
 316 static inline void mavlink_msg_serial_control_decode(const mavlink_message_t* msg, mavlink_serial_control_t* serial_control)
 317 {
 318 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 319     serial_control->baudrate = mavlink_msg_serial_control_get_baudrate(msg);
 320     serial_control->timeout = mavlink_msg_serial_control_get_timeout(msg);
 321     serial_control->device = mavlink_msg_serial_control_get_device(msg);
 322     serial_control->flags = mavlink_msg_serial_control_get_flags(msg);
 323     serial_control->count = mavlink_msg_serial_control_get_count(msg);
 324     mavlink_msg_serial_control_get_data(msg, serial_control->data);
 325 #else
 326         uint8_t len = msg->len < MAVLINK_MSG_ID_SERIAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_SERIAL_CONTROL_LEN;
 327         memset(serial_control, 0, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
 328     memcpy(serial_control, _MAV_PAYLOAD(msg), len);
 329 #endif
 330 }