flight/libraries/mavlink/v1.0/common/mavlink_msg_debug.h

   1 // MESSAGE DEBUG PACKING
   2
   3 #define MAVLINK_MSG_ID_DEBUG 254
   4
   5 typedef struct __mavlink_debug_t {
   6     uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   7     float    value; ///< DEBUG value
   8     uint8_t  ind; ///< index of debug variable
   9 } mavlink_debug_t;
  10
  11 #define MAVLINK_MSG_ID_DEBUG_LEN 9
  12 #define MAVLINK_MSG_ID_254_LEN   9
  13
  14
  15 #define MAVLINK_MESSAGE_INFO_DEBUG \
  16     { \
  17         "DEBUG", \
  18         3, \
  19         { \
  20             { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
  21             { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
  22             { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
  23         } \
  24     }
  25
  26
  27 /**
  28  * @brief Pack a debug message
  29  * @param system_id ID of this system
  30  * @param component_id ID of this component (e.g. 200 for IMU)
  31  * @param msg The MAVLink message to compress the data into
  32  *
  33  * @param time_boot_ms Timestamp (milliseconds since system boot)
  34  * @param ind index of debug variable
  35  * @param value DEBUG value
  36  * @return length of the message in bytes (excluding serial stream start sign)
  37  */
  38 static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  39                                               uint32_t time_boot_ms, uint8_t ind, float value)
  40 {
  41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  42     char buf[9];
  43     _mav_put_uint32_t(buf, 0, time_boot_ms);
  44     _mav_put_float(buf, 4, value);
  45     _mav_put_uint8_t(buf, 8, ind);
  46
  47     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
  48 #else
  49     mavlink_debug_t packet;
  50     packet.time_boot_ms = time_boot_ms;
  51     packet.value = value;
  52     packet.ind   = ind;
  53
  54     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
  55 #endif
  56
  57     msg->msgid = MAVLINK_MSG_ID_DEBUG;
  58     return mavlink_finalize_message(msg, system_id, component_id, 9, 46);
  59 }
  60
  61 /**
  62  * @brief Pack a debug message on a channel
  63  * @param system_id ID of this system
  64  * @param component_id ID of this component (e.g. 200 for IMU)
  65  * @param chan The MAVLink channel this message was sent over
  66  * @param msg The MAVLink message to compress the data into
  67  * @param time_boot_ms Timestamp (milliseconds since system boot)
  68  * @param ind index of debug variable
  69  * @param value DEBUG value
  70  * @return length of the message in bytes (excluding serial stream start sign)
  71  */
  72 static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  73                                                    mavlink_message_t *msg,
  74                                                    uint32_t time_boot_ms, uint8_t ind, float value)
  75 {
  76 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  77     char buf[9];
  78     _mav_put_uint32_t(buf, 0, time_boot_ms);
  79     _mav_put_float(buf, 4, value);
  80     _mav_put_uint8_t(buf, 8, ind);
  81
  82     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 9);
  83 #else
  84     mavlink_debug_t packet;
  85     packet.time_boot_ms = time_boot_ms;
  86     packet.value = value;
  87     packet.ind   = ind;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 9);
  90 #endif
  91
  92     msg->msgid = MAVLINK_MSG_ID_DEBUG;
  93     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9, 46);
  94 }
  95
  96 /**
  97  * @brief Encode a debug struct into a message
  98  *
  99  * @param system_id ID of this system
 100  * @param component_id ID of this component (e.g. 200 for IMU)
 101  * @param msg The MAVLink message to compress the data into
 102  * @param debug C-struct to read the message contents from
 103  */
 104 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)
 105 {
 106     return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value);
 107 }
 108
 109 /**
 110  * @brief Send a debug message
 111  * @param chan MAVLink channel to send the message
 112  *
 113  * @param time_boot_ms Timestamp (milliseconds since system boot)
 114  * @param ind index of debug variable
 115  * @param value DEBUG value
 116  */
 117 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 118
 119 static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[9];
 123     _mav_put_uint32_t(buf, 0, time_boot_ms);
 124     _mav_put_float(buf, 4, value);
 125     _mav_put_uint8_t(buf, 8, ind);
 126
 127     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 9, 46);
 128 #else
 129     mavlink_debug_t packet;
 130     packet.time_boot_ms = time_boot_ms;
 131     packet.value = value;
 132     packet.ind   = ind;
 133
 134     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 9, 46);
 135 #endif
 136 }
 137
 138 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 // MESSAGE DEBUG UNPACKING
 141
 142
 143 /**
 144  * @brief Get field time_boot_ms from debug message
 145  *
 146  * @return Timestamp (milliseconds since system boot)
 147  */
 148 static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t *msg)
 149 {
 150     return _MAV_RETURN_uint32_t(msg, 0);
 151 }
 152
 153 /**
 154  * @brief Get field ind from debug message
 155  *
 156  * @return index of debug variable
 157  */
 158 static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t *msg)
 159 {
 160     return _MAV_RETURN_uint8_t(msg, 8);
 161 }
 162
 163 /**
 164  * @brief Get field value from debug message
 165  *
 166  * @return DEBUG value
 167  */
 168 static inline float mavlink_msg_debug_get_value(const mavlink_message_t *msg)
 169 {
 170     return _MAV_RETURN_float(msg, 4);
 171 }
 172
 173 /**
 174  * @brief Decode a debug message into a struct
 175  *
 176  * @param msg The message to decode
 177  * @param debug C-struct to decode the message contents into
 178  */
 179 static inline void mavlink_msg_debug_decode(const mavlink_message_t *msg, mavlink_debug_t *debug)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP
 182     debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
 183     debug->value = mavlink_msg_debug_get_value(msg);
 184     debug->ind   = mavlink_msg_debug_get_ind(msg);
 185 #else
 186     memcpy(debug, _MAV_PAYLOAD(msg), 9);
 187 #endif
 188 }