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
167 lines
4.4 KiB
C
167 lines
4.4 KiB
C
// MESSAGE DEBUG PACKING
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#define MAVLINK_MSG_ID_DEBUG 255
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typedef struct __mavlink_debug_t
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{
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uint8_t ind; ///< index of debug variable
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float value; ///< DEBUG value
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} mavlink_debug_t;
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#define MAVLINK_MSG_ID_DEBUG_LEN 5
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#define MAVLINK_MSG_ID_255_LEN 5
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#define MAVLINK_MESSAGE_INFO_DEBUG { \
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"DEBUG", \
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2, \
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{ { "ind", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_debug_t, ind) }, \
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{ "value", MAVLINK_TYPE_FLOAT, 0, 1, offsetof(mavlink_debug_t, value) }, \
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} \
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}
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/**
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* @brief Pack a debug message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param ind index of debug variable
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* @param value DEBUG value
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t ind, float value)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[5];
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_mav_put_uint8_t(buf, 0, ind);
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_mav_put_float(buf, 1, value);
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memcpy(_MAV_PAYLOAD(msg), buf, 5);
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#else
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mavlink_debug_t packet;
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packet.ind = ind;
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packet.value = value;
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memcpy(_MAV_PAYLOAD(msg), &packet, 5);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DEBUG;
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return mavlink_finalize_message(msg, system_id, component_id, 5);
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}
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/**
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* @brief Pack a debug message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param ind index of debug variable
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* @param value DEBUG value
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t ind,float value)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[5];
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_mav_put_uint8_t(buf, 0, ind);
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_mav_put_float(buf, 1, value);
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memcpy(_MAV_PAYLOAD(msg), buf, 5);
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#else
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mavlink_debug_t packet;
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packet.ind = ind;
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packet.value = value;
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memcpy(_MAV_PAYLOAD(msg), &packet, 5);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DEBUG;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 5);
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}
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/**
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* @brief Encode a debug struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param debug C-struct to read the message contents from
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*/
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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)
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{
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return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
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}
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/**
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* @brief Send a debug message
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* @param chan MAVLink channel to send the message
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*
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* @param ind index of debug variable
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* @param value DEBUG value
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[5];
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_mav_put_uint8_t(buf, 0, ind);
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_mav_put_float(buf, 1, value);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, 5);
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#else
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mavlink_debug_t packet;
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packet.ind = ind;
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packet.value = value;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, 5);
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#endif
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}
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#endif
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// MESSAGE DEBUG UNPACKING
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/**
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* @brief Get field ind from debug message
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*
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* @return index of debug variable
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*/
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static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 0);
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}
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/**
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* @brief Get field value from debug message
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*
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* @return DEBUG value
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*/
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static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 1);
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}
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/**
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* @brief Decode a debug message into a struct
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*
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* @param msg The message to decode
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* @param debug C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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debug->ind = mavlink_msg_debug_get_ind(msg);
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debug->value = mavlink_msg_debug_get_value(msg);
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#else
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memcpy(debug, _MAV_PAYLOAD(msg), 5);
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#endif
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}
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