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

   1 // MESSAGE SERVO_OUTPUT_RAW PACKING
   2
   3 #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36
   4
   5 typedef struct __mavlink_servo_output_raw_t {
   6     uint32_t time_usec; ///< Timestamp (microseconds since system boot)
   7     uint16_t servo1_raw; ///< Servo output 1 value, in microseconds
   8     uint16_t servo2_raw; ///< Servo output 2 value, in microseconds
   9     uint16_t servo3_raw; ///< Servo output 3 value, in microseconds
  10     uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
  11     uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
  12     uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
  13     uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
  14     uint16_t servo8_raw; ///< Servo output 8 value, in microseconds
  15     uint8_t  port; ///< Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  16 } mavlink_servo_output_raw_t;
  17
  18 #define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21
  19 #define MAVLINK_MSG_ID_36_LEN               21
  20
  21
  22 #define MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW \
  23     { \
  24         "SERVO_OUTPUT_RAW", \
  25         10, \
  26         { \
  27             { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_servo_output_raw_t, time_usec) }, \
  28             { "servo1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_servo_output_raw_t, servo1_raw) }, \
  29             { "servo2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_servo_output_raw_t, servo2_raw) }, \
  30             { "servo3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_servo_output_raw_t, servo3_raw) }, \
  31             { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
  32             { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
  33             { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
  34             { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
  35             { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
  36             { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \
  37         } \
  38     }
  39
  40
  41 /**
  42  * @brief Pack a servo_output_raw 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 time_usec Timestamp (microseconds since system boot)
  48  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
  49  * @param servo1_raw Servo output 1 value, in microseconds
  50  * @param servo2_raw Servo output 2 value, in microseconds
  51  * @param servo3_raw Servo output 3 value, in microseconds
  52  * @param servo4_raw Servo output 4 value, in microseconds
  53  * @param servo5_raw Servo output 5 value, in microseconds
  54  * @param servo6_raw Servo output 6 value, in microseconds
  55  * @param servo7_raw Servo output 7 value, in microseconds
  56  * @param servo8_raw Servo output 8 value, in microseconds
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_servo_output_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  60                                                          uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[21];
  64     _mav_put_uint32_t(buf, 0, time_usec);
  65     _mav_put_uint16_t(buf, 4, servo1_raw);
  66     _mav_put_uint16_t(buf, 6, servo2_raw);
  67     _mav_put_uint16_t(buf, 8, servo3_raw);
  68     _mav_put_uint16_t(buf, 10, servo4_raw);
  69     _mav_put_uint16_t(buf, 12, servo5_raw);
  70     _mav_put_uint16_t(buf, 14, servo6_raw);
  71     _mav_put_uint16_t(buf, 16, servo7_raw);
  72     _mav_put_uint16_t(buf, 18, servo8_raw);
  73     _mav_put_uint8_t(buf, 20, port);
  74
  75     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
  76 #else
  77     mavlink_servo_output_raw_t packet;
  78     packet.time_usec  = time_usec;
  79     packet.servo1_raw = servo1_raw;
  80     packet.servo2_raw = servo2_raw;
  81     packet.servo3_raw = servo3_raw;
  82     packet.servo4_raw = servo4_raw;
  83     packet.servo5_raw = servo5_raw;
  84     packet.servo6_raw = servo6_raw;
  85     packet.servo7_raw = servo7_raw;
  86     packet.servo8_raw = servo8_raw;
  87     packet.port = port;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
  90 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  91
  92     msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
  93     return mavlink_finalize_message(msg, system_id, component_id, 21, 222);
  94 }
  95
  96 /**
  97  * @brief Pack a servo_output_raw message on a channel
  98  * @param system_id ID of this system
  99  * @param component_id ID of this component (e.g. 200 for IMU)
 100  * @param chan The MAVLink channel this message was sent over
 101  * @param msg The MAVLink message to compress the data into
 102  * @param time_usec Timestamp (microseconds since system boot)
 103  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
 104  * @param servo1_raw Servo output 1 value, in microseconds
 105  * @param servo2_raw Servo output 2 value, in microseconds
 106  * @param servo3_raw Servo output 3 value, in microseconds
 107  * @param servo4_raw Servo output 4 value, in microseconds
 108  * @param servo5_raw Servo output 5 value, in microseconds
 109  * @param servo6_raw Servo output 6 value, in microseconds
 110  * @param servo7_raw Servo output 7 value, in microseconds
 111  * @param servo8_raw Servo output 8 value, in microseconds
 112  * @return length of the message in bytes (excluding serial stream start sign)
 113  */
 114 static inline uint16_t mavlink_msg_servo_output_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 115                                                               mavlink_message_t *msg,
 116                                                               uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
 117 {
 118 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 119     char buf[21];
 120     _mav_put_uint32_t(buf, 0, time_usec);
 121     _mav_put_uint16_t(buf, 4, servo1_raw);
 122     _mav_put_uint16_t(buf, 6, servo2_raw);
 123     _mav_put_uint16_t(buf, 8, servo3_raw);
 124     _mav_put_uint16_t(buf, 10, servo4_raw);
 125     _mav_put_uint16_t(buf, 12, servo5_raw);
 126     _mav_put_uint16_t(buf, 14, servo6_raw);
 127     _mav_put_uint16_t(buf, 16, servo7_raw);
 128     _mav_put_uint16_t(buf, 18, servo8_raw);
 129     _mav_put_uint8_t(buf, 20, port);
 130
 131     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 21);
 132 #else
 133     mavlink_servo_output_raw_t packet;
 134     packet.time_usec  = time_usec;
 135     packet.servo1_raw = servo1_raw;
 136     packet.servo2_raw = servo2_raw;
 137     packet.servo3_raw = servo3_raw;
 138     packet.servo4_raw = servo4_raw;
 139     packet.servo5_raw = servo5_raw;
 140     packet.servo6_raw = servo6_raw;
 141     packet.servo7_raw = servo7_raw;
 142     packet.servo8_raw = servo8_raw;
 143     packet.port = port;
 144
 145     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 21);
 146 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 147
 148     msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
 149     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21, 222);
 150 }
 151
 152 /**
 153  * @brief Encode a servo_output_raw struct into a message
 154  *
 155  * @param system_id ID of this system
 156  * @param component_id ID of this component (e.g. 200 for IMU)
 157  * @param msg The MAVLink message to compress the data into
 158  * @param servo_output_raw C-struct to read the message contents from
 159  */
 160 static inline uint16_t mavlink_msg_servo_output_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_servo_output_raw_t *servo_output_raw)
 161 {
 162     return mavlink_msg_servo_output_raw_pack(system_id, component_id, msg, servo_output_raw->time_usec, servo_output_raw->port, servo_output_raw->servo1_raw, servo_output_raw->servo2_raw, servo_output_raw->servo3_raw, servo_output_raw->servo4_raw, servo_output_raw->servo5_raw, servo_output_raw->servo6_raw, servo_output_raw->servo7_raw, servo_output_raw->servo8_raw);
 163 }
 164
 165 /**
 166  * @brief Send a servo_output_raw message
 167  * @param chan MAVLink channel to send the message
 168  *
 169  * @param time_usec Timestamp (microseconds since system boot)
 170  * @param port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
 171  * @param servo1_raw Servo output 1 value, in microseconds
 172  * @param servo2_raw Servo output 2 value, in microseconds
 173  * @param servo3_raw Servo output 3 value, in microseconds
 174  * @param servo4_raw Servo output 4 value, in microseconds
 175  * @param servo5_raw Servo output 5 value, in microseconds
 176  * @param servo6_raw Servo output 6 value, in microseconds
 177  * @param servo7_raw Servo output 7 value, in microseconds
 178  * @param servo8_raw Servo output 8 value, in microseconds
 179  */
 180 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 181
 182 static inline void mavlink_msg_servo_output_raw_send(mavlink_channel_t chan, uint32_t time_usec, uint8_t port, uint16_t servo1_raw, uint16_t servo2_raw, uint16_t servo3_raw, uint16_t servo4_raw, uint16_t servo5_raw, uint16_t servo6_raw, uint16_t servo7_raw, uint16_t servo8_raw)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[21];
 186     _mav_put_uint32_t(buf, 0, time_usec);
 187     _mav_put_uint16_t(buf, 4, servo1_raw);
 188     _mav_put_uint16_t(buf, 6, servo2_raw);
 189     _mav_put_uint16_t(buf, 8, servo3_raw);
 190     _mav_put_uint16_t(buf, 10, servo4_raw);
 191     _mav_put_uint16_t(buf, 12, servo5_raw);
 192     _mav_put_uint16_t(buf, 14, servo6_raw);
 193     _mav_put_uint16_t(buf, 16, servo7_raw);
 194     _mav_put_uint16_t(buf, 18, servo8_raw);
 195     _mav_put_uint8_t(buf, 20, port);
 196
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, 21, 222);
 198 #else
 199     mavlink_servo_output_raw_t packet;
 200     packet.time_usec  = time_usec;
 201     packet.servo1_raw = servo1_raw;
 202     packet.servo2_raw = servo2_raw;
 203     packet.servo3_raw = servo3_raw;
 204     packet.servo4_raw = servo4_raw;
 205     packet.servo5_raw = servo5_raw;
 206     packet.servo6_raw = servo6_raw;
 207     packet.servo7_raw = servo7_raw;
 208     packet.servo8_raw = servo8_raw;
 209     packet.port = port;
 210
 211     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, 21, 222);
 212 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213 }
 214
 215 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 216
 217 // MESSAGE SERVO_OUTPUT_RAW UNPACKING
 218
 219
 220 /**
 221  * @brief Get field time_usec from servo_output_raw message
 222  *
 223  * @return Timestamp (microseconds since system boot)
 224  */
 225 static inline uint32_t mavlink_msg_servo_output_raw_get_time_usec(const mavlink_message_t *msg)
 226 {
 227     return _MAV_RETURN_uint32_t(msg, 0);
 228 }
 229
 230 /**
 231  * @brief Get field port from servo_output_raw message
 232  *
 233  * @return Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
 234  */
 235 static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t *msg)
 236 {
 237     return _MAV_RETURN_uint8_t(msg, 20);
 238 }
 239
 240 /**
 241  * @brief Get field servo1_raw from servo_output_raw message
 242  *
 243  * @return Servo output 1 value, in microseconds
 244  */
 245 static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t *msg)
 246 {
 247     return _MAV_RETURN_uint16_t(msg, 4);
 248 }
 249
 250 /**
 251  * @brief Get field servo2_raw from servo_output_raw message
 252  *
 253  * @return Servo output 2 value, in microseconds
 254  */
 255 static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t *msg)
 256 {
 257     return _MAV_RETURN_uint16_t(msg, 6);
 258 }
 259
 260 /**
 261  * @brief Get field servo3_raw from servo_output_raw message
 262  *
 263  * @return Servo output 3 value, in microseconds
 264  */
 265 static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t *msg)
 266 {
 267     return _MAV_RETURN_uint16_t(msg, 8);
 268 }
 269
 270 /**
 271  * @brief Get field servo4_raw from servo_output_raw message
 272  *
 273  * @return Servo output 4 value, in microseconds
 274  */
 275 static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t *msg)
 276 {
 277     return _MAV_RETURN_uint16_t(msg, 10);
 278 }
 279
 280 /**
 281  * @brief Get field servo5_raw from servo_output_raw message
 282  *
 283  * @return Servo output 5 value, in microseconds
 284  */
 285 static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t *msg)
 286 {
 287     return _MAV_RETURN_uint16_t(msg, 12);
 288 }
 289
 290 /**
 291  * @brief Get field servo6_raw from servo_output_raw message
 292  *
 293  * @return Servo output 6 value, in microseconds
 294  */
 295 static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t *msg)
 296 {
 297     return _MAV_RETURN_uint16_t(msg, 14);
 298 }
 299
 300 /**
 301  * @brief Get field servo7_raw from servo_output_raw message
 302  *
 303  * @return Servo output 7 value, in microseconds
 304  */
 305 static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t *msg)
 306 {
 307     return _MAV_RETURN_uint16_t(msg, 16);
 308 }
 309
 310 /**
 311  * @brief Get field servo8_raw from servo_output_raw message
 312  *
 313  * @return Servo output 8 value, in microseconds
 314  */
 315 static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t *msg)
 316 {
 317     return _MAV_RETURN_uint16_t(msg, 18);
 318 }
 319
 320 /**
 321  * @brief Decode a servo_output_raw message into a struct
 322  *
 323  * @param msg The message to decode
 324  * @param servo_output_raw C-struct to decode the message contents into
 325  */
 326 static inline void mavlink_msg_servo_output_raw_decode(const mavlink_message_t *msg, mavlink_servo_output_raw_t *servo_output_raw)
 327 {
 328 #if MAVLINK_NEED_BYTE_SWAP
 329     servo_output_raw->time_usec  = mavlink_msg_servo_output_raw_get_time_usec(msg);
 330     servo_output_raw->servo1_raw = mavlink_msg_servo_output_raw_get_servo1_raw(msg);
 331     servo_output_raw->servo2_raw = mavlink_msg_servo_output_raw_get_servo2_raw(msg);
 332     servo_output_raw->servo3_raw = mavlink_msg_servo_output_raw_get_servo3_raw(msg);
 333     servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
 334     servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
 335     servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
 336     servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
 337     servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
 338     servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg);
 339 #else
 340     memcpy(servo_output_raw, _MAV_PAYLOAD(msg), 21);
 341 #endif
 342 }