mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
3ae2186021
this new implementation reduces code size, and also reduces stack usage, while avoiding the gcc union stack bug Note that we will gain even more when we move to the new protocol version, especially in terms of code size git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
145 lines
3.8 KiB
C
145 lines
3.8 KiB
C
// MESSAGE BOOT PACKING
|
|
|
|
#define MAVLINK_MSG_ID_BOOT 1
|
|
|
|
typedef struct __mavlink_boot_t
|
|
{
|
|
uint32_t version; ///< The onboard software version
|
|
} mavlink_boot_t;
|
|
|
|
#define MAVLINK_MSG_ID_BOOT_LEN 4
|
|
#define MAVLINK_MSG_ID_1_LEN 4
|
|
|
|
|
|
|
|
#define MAVLINK_MESSAGE_INFO_BOOT { \
|
|
"BOOT", \
|
|
1, \
|
|
{ { "version", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
|
|
} \
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Pack a boot message
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
*
|
|
* @param version The onboard software version
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint32_t version)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[4];
|
|
_mav_put_uint32_t(buf, 0, version);
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), buf, 4);
|
|
#else
|
|
mavlink_boot_t packet;
|
|
packet.version = version;
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_BOOT;
|
|
return mavlink_finalize_message(msg, system_id, component_id, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a boot message on a channel
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message was sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param version The onboard software version
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint32_t version)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[4];
|
|
_mav_put_uint32_t(buf, 0, version);
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), buf, 4);
|
|
#else
|
|
mavlink_boot_t packet;
|
|
packet.version = version;
|
|
|
|
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_BOOT;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a boot struct into a message
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param boot C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
|
|
{
|
|
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a boot message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param version The onboard software version
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[4];
|
|
_mav_put_uint32_t(buf, 0, version);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4);
|
|
#else
|
|
mavlink_boot_t packet;
|
|
packet.version = version;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4);
|
|
#endif
|
|
}
|
|
|
|
#endif
|
|
|
|
// MESSAGE BOOT UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field version from boot message
|
|
*
|
|
* @return The onboard software version
|
|
*/
|
|
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a boot message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param boot C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
boot->version = mavlink_msg_boot_get_version(msg);
|
|
#else
|
|
memcpy(boot, _MAV_PAYLOAD(msg), 4);
|
|
#endif
|
|
}
|