mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-15 21:28:39 -04:00
ca8141cfb6
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
186 lines
6.2 KiB
C
186 lines
6.2 KiB
C
// MESSAGE HEARTBEAT PACKING
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#define MAVLINK_MSG_ID_HEARTBEAT 0
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typedef struct __mavlink_heartbeat_t
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{
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uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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uint8_t autopilot; ///< Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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uint8_t mavlink_version; ///< MAVLink version
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} mavlink_heartbeat_t;
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#define MAVLINK_MSG_ID_HEARTBEAT_LEN 3
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#define MAVLINK_MSG_ID_0_LEN 3
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#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
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"HEARTBEAT", \
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3, \
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{ { "type", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_heartbeat_t, type) }, \
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{ "autopilot", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_heartbeat_t, autopilot) }, \
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{ "mavlink_version", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
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} \
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}
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/**
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* @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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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_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t type, uint8_t autopilot)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[3];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, autopilot);
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_mav_put_uint8_t(buf, 2, 2);
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memcpy(_MAV_PAYLOAD(msg), buf, 3);
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#else
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mavlink_heartbeat_t packet;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.mavlink_version = 2;
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memcpy(_MAV_PAYLOAD(msg), &packet, 3);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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return mavlink_finalize_message(msg, system_id, component_id, 3);
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}
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/**
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* @brief Pack a heartbeat 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 type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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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_heartbeat_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 type,uint8_t autopilot)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[3];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, autopilot);
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_mav_put_uint8_t(buf, 2, 2);
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memcpy(_MAV_PAYLOAD(msg), buf, 3);
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#else
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mavlink_heartbeat_t packet;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.mavlink_version = 2;
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memcpy(_MAV_PAYLOAD(msg), &packet, 3);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3);
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}
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/**
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* @brief Encode a heartbeat 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 heartbeat C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
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{
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return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot);
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}
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/**
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* @brief Send a heartbeat message
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* @param chan MAVLink channel to send the message
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*
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* @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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* @param autopilot Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[3];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, autopilot);
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_mav_put_uint8_t(buf, 2, 2);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, 3);
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#else
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mavlink_heartbeat_t packet;
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packet.type = type;
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packet.autopilot = autopilot;
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packet.mavlink_version = 2;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, 3);
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#endif
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}
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#endif
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// MESSAGE HEARTBEAT UNPACKING
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/**
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* @brief Get field type from heartbeat message
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*
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* @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_type(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 autopilot from heartbeat message
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*
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* @return Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 1);
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}
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/**
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* @brief Get field mavlink_version from heartbeat message
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*
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* @return MAVLink version
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*/
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static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Decode a heartbeat message into a struct
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*
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* @param msg The message to decode
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* @param heartbeat C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
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heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
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heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
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#else
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memcpy(heartbeat, _MAV_PAYLOAD(msg), 3);
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#endif
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}
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