lib/main/MAVLink/common/mavlink_msg_debug.h

   1 #pragma once
   2 // MESSAGE DEBUG PACKING
   3
   4 #define MAVLINK_MSG_ID_DEBUG 254
   5
   6
   7 typedef struct __mavlink_debug_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   9  float value; /*<  DEBUG value*/
  10  uint8_t ind; /*<  index of debug variable*/
  11 } mavlink_debug_t;
  12
  13 #define MAVLINK_MSG_ID_DEBUG_LEN 9
  14 #define MAVLINK_MSG_ID_DEBUG_MIN_LEN 9
  15 #define MAVLINK_MSG_ID_254_LEN 9
  16 #define MAVLINK_MSG_ID_254_MIN_LEN 9
  17
  18 #define MAVLINK_MSG_ID_DEBUG_CRC 46
  19 #define MAVLINK_MSG_ID_254_CRC 46
  20
  21
  22
  23 #if MAVLINK_COMMAND_24BIT
  24 #define MAVLINK_MESSAGE_INFO_DEBUG { \
  25     254, \
  26     "DEBUG", \
  27     3, \
  28     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
  29          { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
  30          { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
  31          } \
  32 }
  33 #else
  34 #define MAVLINK_MESSAGE_INFO_DEBUG { \
  35     "DEBUG", \
  36     3, \
  37     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
  38          { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
  39          { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
  40          } \
  41 }
  42 #endif
  43
  44 /**
  45  * @brief Pack a debug message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param time_boot_ms [ms] Timestamp (time since system boot).
  51  * @param ind  index of debug variable
  52  * @param value  DEBUG value
  53  * @return length of the message in bytes (excluding serial stream start sign)
  54  */
  55 static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  56                                uint32_t time_boot_ms, uint8_t ind, float value)
  57 {
  58 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  59     char buf[MAVLINK_MSG_ID_DEBUG_LEN];
  60     _mav_put_uint32_t(buf, 0, time_boot_ms);
  61     _mav_put_float(buf, 4, value);
  62     _mav_put_uint8_t(buf, 8, ind);
  63
  64         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
  65 #else
  66     mavlink_debug_t packet;
  67     packet.time_boot_ms = time_boot_ms;
  68     packet.value = value;
  69     packet.ind = ind;
  70
  71         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
  72 #endif
  73
  74     msg->msgid = MAVLINK_MSG_ID_DEBUG;
  75     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
  76 }
  77
  78 /**
  79  * @brief Pack a debug message on a channel
  80  * @param system_id ID of this system
  81  * @param component_id ID of this component (e.g. 200 for IMU)
  82  * @param chan The MAVLink channel this message will be sent over
  83  * @param msg The MAVLink message to compress the data into
  84  * @param time_boot_ms [ms] Timestamp (time since system boot).
  85  * @param ind  index of debug variable
  86  * @param value  DEBUG value
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                mavlink_message_t* msg,
  91                                    uint32_t time_boot_ms,uint8_t ind,float value)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94     char buf[MAVLINK_MSG_ID_DEBUG_LEN];
  95     _mav_put_uint32_t(buf, 0, time_boot_ms);
  96     _mav_put_float(buf, 4, value);
  97     _mav_put_uint8_t(buf, 8, ind);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
 100 #else
 101     mavlink_debug_t packet;
 102     packet.time_boot_ms = time_boot_ms;
 103     packet.value = value;
 104     packet.ind = ind;
 105
 106         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
 107 #endif
 108
 109     msg->msgid = MAVLINK_MSG_ID_DEBUG;
 110     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 111 }
 112
 113 /**
 114  * @brief Encode a debug struct
 115  *
 116  * @param system_id ID of this system
 117  * @param component_id ID of this component (e.g. 200 for IMU)
 118  * @param msg The MAVLink message to compress the data into
 119  * @param debug C-struct to read the message contents from
 120  */
 121 static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
 122 {
 123     return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value);
 124 }
 125
 126 /**
 127  * @brief Encode a debug struct on a channel
 128  *
 129  * @param system_id ID of this system
 130  * @param component_id ID of this component (e.g. 200 for IMU)
 131  * @param chan The MAVLink channel this message will be sent over
 132  * @param msg The MAVLink message to compress the data into
 133  * @param debug C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_debug_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_t* debug)
 136 {
 137     return mavlink_msg_debug_pack_chan(system_id, component_id, chan, msg, debug->time_boot_ms, debug->ind, debug->value);
 138 }
 139
 140 /**
 141  * @brief Send a debug message
 142  * @param chan MAVLink channel to send the message
 143  *
 144  * @param time_boot_ms [ms] Timestamp (time since system boot).
 145  * @param ind  index of debug variable
 146  * @param value  DEBUG value
 147  */
 148 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 149
 150 static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
 151 {
 152 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 153     char buf[MAVLINK_MSG_ID_DEBUG_LEN];
 154     _mav_put_uint32_t(buf, 0, time_boot_ms);
 155     _mav_put_float(buf, 4, value);
 156     _mav_put_uint8_t(buf, 8, ind);
 157
 158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 159 #else
 160     mavlink_debug_t packet;
 161     packet.time_boot_ms = time_boot_ms;
 162     packet.value = value;
 163     packet.ind = ind;
 164
 165     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 166 #endif
 167 }
 168
 169 /**
 170  * @brief Send a debug message
 171  * @param chan MAVLink channel to send the message
 172  * @param struct The MAVLink struct to serialize
 173  */
 174 static inline void mavlink_msg_debug_send_struct(mavlink_channel_t chan, const mavlink_debug_t* debug)
 175 {
 176 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 177     mavlink_msg_debug_send(chan, debug->time_boot_ms, debug->ind, debug->value);
 178 #else
 179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)debug, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 180 #endif
 181 }
 182
 183 #if MAVLINK_MSG_ID_DEBUG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 184 /*
 185   This varient of _send() can be used to save stack space by re-using
 186   memory from the receive buffer.  The caller provides a
 187   mavlink_message_t which is the size of a full mavlink message. This
 188   is usually the receive buffer for the channel, and allows a reply to an
 189   incoming message with minimum stack space usage.
 190  */
 191 static inline void mavlink_msg_debug_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t ind, float value)
 192 {
 193 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 194     char *buf = (char *)msgbuf;
 195     _mav_put_uint32_t(buf, 0, time_boot_ms);
 196     _mav_put_float(buf, 4, value);
 197     _mav_put_uint8_t(buf, 8, ind);
 198
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 200 #else
 201     mavlink_debug_t *packet = (mavlink_debug_t *)msgbuf;
 202     packet->time_boot_ms = time_boot_ms;
 203     packet->value = value;
 204     packet->ind = ind;
 205
 206     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)packet, MAVLINK_MSG_ID_DEBUG_MIN_LEN, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
 207 #endif
 208 }
 209 #endif
 210
 211 #endif
 212
 213 // MESSAGE DEBUG UNPACKING
 214
 215
 216 /**
 217  * @brief Get field time_boot_ms from debug message
 218  *
 219  * @return [ms] Timestamp (time since system boot).
 220  */
 221 static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
 222 {
 223     return _MAV_RETURN_uint32_t(msg,  0);
 224 }
 225
 226 /**
 227  * @brief Get field ind from debug message
 228  *
 229  * @return  index of debug variable
 230  */
 231 static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
 232 {
 233     return _MAV_RETURN_uint8_t(msg,  8);
 234 }
 235
 236 /**
 237  * @brief Get field value from debug message
 238  *
 239  * @return  DEBUG value
 240  */
 241 static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_float(msg,  4);
 244 }
 245
 246 /**
 247  * @brief Decode a debug message into a struct
 248  *
 249  * @param msg The message to decode
 250  * @param debug C-struct to decode the message contents into
 251  */
 252 static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
 253 {
 254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 255     debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
 256     debug->value = mavlink_msg_debug_get_value(msg);
 257     debug->ind = mavlink_msg_debug_get_ind(msg);
 258 #else
 259         uint8_t len = msg->len < MAVLINK_MSG_ID_DEBUG_LEN? msg->len : MAVLINK_MSG_ID_DEBUG_LEN;
 260         memset(debug, 0, MAVLINK_MSG_ID_DEBUG_LEN);
 261     memcpy(debug, _MAV_PAYLOAD(msg), len);
 262 #endif
 263 }