mirror of https://github.com/ArduPilot/ardupilot
107 lines
3.1 KiB
C
107 lines
3.1 KiB
C
// MESSAGE BOOT PACKING
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#define MAVLINK_MSG_ID_BOOT 1
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typedef struct __mavlink_boot_t
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{
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uint32_t version; ///< The onboard software version
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} mavlink_boot_t;
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/**
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* @brief Pack a boot 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 version The onboard software version
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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_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t version)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_BOOT;
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i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a boot 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 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 version The onboard software version
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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_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_BOOT;
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i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a boot 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 boot C-struct to read the message contents from
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*/
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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)
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{
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return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
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}
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/**
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* @brief Send a boot message
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* @param chan MAVLink channel to send the message
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*
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* @param version The onboard software version
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
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{
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mavlink_message_t msg;
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mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE BOOT UNPACKING
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/**
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* @brief Get field version from boot message
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*
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* @return The onboard software version
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*/
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static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload)[0];
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r.b[2] = (msg->payload)[1];
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r.b[1] = (msg->payload)[2];
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r.b[0] = (msg->payload)[3];
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return (uint32_t)r.i;
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}
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/**
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* @brief Decode a boot message into a struct
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*
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* @param msg The message to decode
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* @param boot C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
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{
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boot->version = mavlink_msg_boot_get_version(msg);
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}
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