lib/main/MAVLink/common/mavlink_msg_timesync.h

   1 #pragma once
   2 // MESSAGE TIMESYNC PACKING
   3
   4 #define MAVLINK_MSG_ID_TIMESYNC 111
   5
   6
   7 typedef struct __mavlink_timesync_t {
   8  int64_t tc1; /*<  Time sync timestamp 1*/
   9  int64_t ts1; /*<  Time sync timestamp 2*/
  10 } mavlink_timesync_t;
  11
  12 #define MAVLINK_MSG_ID_TIMESYNC_LEN 16
  13 #define MAVLINK_MSG_ID_TIMESYNC_MIN_LEN 16
  14 #define MAVLINK_MSG_ID_111_LEN 16
  15 #define MAVLINK_MSG_ID_111_MIN_LEN 16
  16
  17 #define MAVLINK_MSG_ID_TIMESYNC_CRC 34
  18 #define MAVLINK_MSG_ID_111_CRC 34
  19
  20
  21
  22 #if MAVLINK_COMMAND_24BIT
  23 #define MAVLINK_MESSAGE_INFO_TIMESYNC { \
  24     111, \
  25     "TIMESYNC", \
  26     2, \
  27     {  { "tc1", NULL, MAVLINK_TYPE_INT64_T, 0, 0, offsetof(mavlink_timesync_t, tc1) }, \
  28          { "ts1", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_timesync_t, ts1) }, \
  29          } \
  30 }
  31 #else
  32 #define MAVLINK_MESSAGE_INFO_TIMESYNC { \
  33     "TIMESYNC", \
  34     2, \
  35     {  { "tc1", NULL, MAVLINK_TYPE_INT64_T, 0, 0, offsetof(mavlink_timesync_t, tc1) }, \
  36          { "ts1", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_timesync_t, ts1) }, \
  37          } \
  38 }
  39 #endif
  40
  41 /**
  42  * @brief Pack a timesync message
  43  * @param system_id ID of this system
  44  * @param component_id ID of this component (e.g. 200 for IMU)
  45  * @param msg The MAVLink message to compress the data into
  46  *
  47  * @param tc1  Time sync timestamp 1
  48  * @param ts1  Time sync timestamp 2
  49  * @return length of the message in bytes (excluding serial stream start sign)
  50  */
  51 static inline uint16_t mavlink_msg_timesync_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  52                                int64_t tc1, int64_t ts1)
  53 {
  54 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  55     char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
  56     _mav_put_int64_t(buf, 0, tc1);
  57     _mav_put_int64_t(buf, 8, ts1);
  58
  59         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
  60 #else
  61     mavlink_timesync_t packet;
  62     packet.tc1 = tc1;
  63     packet.ts1 = ts1;
  64
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
  66 #endif
  67
  68     msg->msgid = MAVLINK_MSG_ID_TIMESYNC;
  69     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
  70 }
  71
  72 /**
  73  * @brief Pack a timesync message on a channel
  74  * @param system_id ID of this system
  75  * @param component_id ID of this component (e.g. 200 for IMU)
  76  * @param chan The MAVLink channel this message will be sent over
  77  * @param msg The MAVLink message to compress the data into
  78  * @param tc1  Time sync timestamp 1
  79  * @param ts1  Time sync timestamp 2
  80  * @return length of the message in bytes (excluding serial stream start sign)
  81  */
  82 static inline uint16_t mavlink_msg_timesync_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  83                                mavlink_message_t* msg,
  84                                    int64_t tc1,int64_t ts1)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
  88     _mav_put_int64_t(buf, 0, tc1);
  89     _mav_put_int64_t(buf, 8, ts1);
  90
  91         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TIMESYNC_LEN);
  92 #else
  93     mavlink_timesync_t packet;
  94     packet.tc1 = tc1;
  95     packet.ts1 = ts1;
  96
  97         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TIMESYNC_LEN);
  98 #endif
  99
 100     msg->msgid = MAVLINK_MSG_ID_TIMESYNC;
 101     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 102 }
 103
 104 /**
 105  * @brief Encode a timesync struct
 106  *
 107  * @param system_id ID of this system
 108  * @param component_id ID of this component (e.g. 200 for IMU)
 109  * @param msg The MAVLink message to compress the data into
 110  * @param timesync C-struct to read the message contents from
 111  */
 112 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)
 113 {
 114     return mavlink_msg_timesync_pack(system_id, component_id, msg, timesync->tc1, timesync->ts1);
 115 }
 116
 117 /**
 118  * @brief Encode a timesync struct on a channel
 119  *
 120  * @param system_id ID of this system
 121  * @param component_id ID of this component (e.g. 200 for IMU)
 122  * @param chan The MAVLink channel this message will be sent over
 123  * @param msg The MAVLink message to compress the data into
 124  * @param timesync C-struct to read the message contents from
 125  */
 126 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)
 127 {
 128     return mavlink_msg_timesync_pack_chan(system_id, component_id, chan, msg, timesync->tc1, timesync->ts1);
 129 }
 130
 131 /**
 132  * @brief Send a timesync message
 133  * @param chan MAVLink channel to send the message
 134  *
 135  * @param tc1  Time sync timestamp 1
 136  * @param ts1  Time sync timestamp 2
 137  */
 138 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 static inline void mavlink_msg_timesync_send(mavlink_channel_t chan, int64_t tc1, int64_t ts1)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_TIMESYNC_LEN];
 144     _mav_put_int64_t(buf, 0, tc1);
 145     _mav_put_int64_t(buf, 8, ts1);
 146
 147     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 148 #else
 149     mavlink_timesync_t packet;
 150     packet.tc1 = tc1;
 151     packet.ts1 = ts1;
 152
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)&packet, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 154 #endif
 155 }
 156
 157 /**
 158  * @brief Send a timesync message
 159  * @param chan MAVLink channel to send the message
 160  * @param struct The MAVLink struct to serialize
 161  */
 162 static inline void mavlink_msg_timesync_send_struct(mavlink_channel_t chan, const mavlink_timesync_t* timesync)
 163 {
 164 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 165     mavlink_msg_timesync_send(chan, timesync->tc1, timesync->ts1);
 166 #else
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)timesync, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 168 #endif
 169 }
 170
 171 #if MAVLINK_MSG_ID_TIMESYNC_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 172 /*
 173   This varient of _send() can be used to save stack space by re-using
 174   memory from the receive buffer.  The caller provides a
 175   mavlink_message_t which is the size of a full mavlink message. This
 176   is usually the receive buffer for the channel, and allows a reply to an
 177   incoming message with minimum stack space usage.
 178  */
 179 static inline void mavlink_msg_timesync_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int64_t tc1, int64_t ts1)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 182     char *buf = (char *)msgbuf;
 183     _mav_put_int64_t(buf, 0, tc1);
 184     _mav_put_int64_t(buf, 8, ts1);
 185
 186     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, buf, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 187 #else
 188     mavlink_timesync_t *packet = (mavlink_timesync_t *)msgbuf;
 189     packet->tc1 = tc1;
 190     packet->ts1 = ts1;
 191
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TIMESYNC, (const char *)packet, MAVLINK_MSG_ID_TIMESYNC_MIN_LEN, MAVLINK_MSG_ID_TIMESYNC_LEN, MAVLINK_MSG_ID_TIMESYNC_CRC);
 193 #endif
 194 }
 195 #endif
 196
 197 #endif
 198
 199 // MESSAGE TIMESYNC UNPACKING
 200
 201
 202 /**
 203  * @brief Get field tc1 from timesync message
 204  *
 205  * @return  Time sync timestamp 1
 206  */
 207 static inline int64_t mavlink_msg_timesync_get_tc1(const mavlink_message_t* msg)
 208 {
 209     return _MAV_RETURN_int64_t(msg,  0);
 210 }
 211
 212 /**
 213  * @brief Get field ts1 from timesync message
 214  *
 215  * @return  Time sync timestamp 2
 216  */
 217 static inline int64_t mavlink_msg_timesync_get_ts1(const mavlink_message_t* msg)
 218 {
 219     return _MAV_RETURN_int64_t(msg,  8);
 220 }
 221
 222 /**
 223  * @brief Decode a timesync message into a struct
 224  *
 225  * @param msg The message to decode
 226  * @param timesync C-struct to decode the message contents into
 227  */
 228 static inline void mavlink_msg_timesync_decode(const mavlink_message_t* msg, mavlink_timesync_t* timesync)
 229 {
 230 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 231     timesync->tc1 = mavlink_msg_timesync_get_tc1(msg);
 232     timesync->ts1 = mavlink_msg_timesync_get_ts1(msg);
 233 #else
 234         uint8_t len = msg->len < MAVLINK_MSG_ID_TIMESYNC_LEN? msg->len : MAVLINK_MSG_ID_TIMESYNC_LEN;
 235         memset(timesync, 0, MAVLINK_MSG_ID_TIMESYNC_LEN);
 236     memcpy(timesync, _MAV_PAYLOAD(msg), len);
 237 #endif
 238 }