mirror of https://github.com/ArduPilot/ardupilot
277 lines
8.5 KiB
C
277 lines
8.5 KiB
C
// MESSAGE RADIO PACKING
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#define MAVLINK_MSG_ID_RADIO 166
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typedef struct __mavlink_radio_t
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{
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uint8_t rssi; ///< local signal strength
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uint8_t remrssi; ///< remote signal strength
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uint8_t txbuf; ///< how full the tx buffer is as a percentage
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uint8_t noise; ///< background noise level
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uint8_t remnoise; ///< remote background noise level
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uint16_t rxerrors; ///< receive errors
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uint16_t fixed; ///< count of error corrected packets
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} mavlink_radio_t;
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#define MAVLINK_MSG_ID_RADIO_LEN 9
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#define MAVLINK_MSG_ID_166_LEN 9
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#define MAVLINK_MESSAGE_INFO_RADIO { \
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"RADIO", \
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7, \
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{ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_radio_t, rssi) }, \
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{ "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_radio_t, remrssi) }, \
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{ "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_radio_t, txbuf) }, \
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{ "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_radio_t, noise) }, \
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{ "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, remnoise) }, \
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{ "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_radio_t, rxerrors) }, \
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{ "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 7, offsetof(mavlink_radio_t, fixed) }, \
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} \
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}
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/**
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* @brief Pack a radio 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 rssi local signal strength
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* @param remrssi remote signal strength
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* @param txbuf how full the tx buffer is as a percentage
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* @param noise background noise level
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* @param remnoise remote background noise level
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* @param rxerrors receive errors
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* @param fixed count of error corrected packets
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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_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[9];
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_mav_put_uint8_t(buf, 0, rssi);
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_mav_put_uint8_t(buf, 1, remrssi);
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_mav_put_uint8_t(buf, 2, txbuf);
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_mav_put_uint8_t(buf, 3, noise);
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_mav_put_uint8_t(buf, 4, remnoise);
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_mav_put_uint16_t(buf, 5, rxerrors);
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_mav_put_uint16_t(buf, 7, fixed);
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memcpy(_MAV_PAYLOAD(msg), buf, 9);
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#else
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mavlink_radio_t packet;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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memcpy(_MAV_PAYLOAD(msg), &packet, 9);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RADIO;
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return mavlink_finalize_message(msg, system_id, component_id, 9);
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}
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/**
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* @brief Pack a radio 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 rssi local signal strength
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* @param remrssi remote signal strength
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* @param txbuf how full the tx buffer is as a percentage
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* @param noise background noise level
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* @param remnoise remote background noise level
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* @param rxerrors receive errors
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* @param fixed count of error corrected packets
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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_radio_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 rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[9];
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_mav_put_uint8_t(buf, 0, rssi);
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_mav_put_uint8_t(buf, 1, remrssi);
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_mav_put_uint8_t(buf, 2, txbuf);
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_mav_put_uint8_t(buf, 3, noise);
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_mav_put_uint8_t(buf, 4, remnoise);
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_mav_put_uint16_t(buf, 5, rxerrors);
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_mav_put_uint16_t(buf, 7, fixed);
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memcpy(_MAV_PAYLOAD(msg), buf, 9);
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#else
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mavlink_radio_t packet;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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memcpy(_MAV_PAYLOAD(msg), &packet, 9);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RADIO;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 9);
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}
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/**
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* @brief Encode a radio 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 radio C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio)
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{
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return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
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}
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/**
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* @brief Send a radio message
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* @param chan MAVLink channel to send the message
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*
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* @param rssi local signal strength
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* @param remrssi remote signal strength
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* @param txbuf how full the tx buffer is as a percentage
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* @param noise background noise level
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* @param remnoise remote background noise level
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* @param rxerrors receive errors
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* @param fixed count of error corrected packets
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[9];
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_mav_put_uint8_t(buf, 0, rssi);
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_mav_put_uint8_t(buf, 1, remrssi);
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_mav_put_uint8_t(buf, 2, txbuf);
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_mav_put_uint8_t(buf, 3, noise);
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_mav_put_uint8_t(buf, 4, remnoise);
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_mav_put_uint16_t(buf, 5, rxerrors);
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_mav_put_uint16_t(buf, 7, fixed);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, 9);
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#else
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mavlink_radio_t packet;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, 9);
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#endif
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}
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#endif
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// MESSAGE RADIO UNPACKING
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/**
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* @brief Get field rssi from radio message
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*
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* @return local signal strength
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*/
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static inline uint8_t mavlink_msg_radio_get_rssi(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 remrssi from radio message
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*
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* @return remote signal strength
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*/
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static inline uint8_t mavlink_msg_radio_get_remrssi(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 txbuf from radio message
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*
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* @return how full the tx buffer is as a percentage
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*/
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static inline uint8_t mavlink_msg_radio_get_txbuf(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 Get field noise from radio message
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*
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* @return background noise level
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*/
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static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 3);
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}
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/**
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* @brief Get field remnoise from radio message
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*
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* @return remote background noise level
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*/
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static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field rxerrors from radio message
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*
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* @return receive errors
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*/
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static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 5);
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}
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/**
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* @brief Get field fixed from radio message
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*
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* @return count of error corrected packets
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*/
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static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 7);
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}
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/**
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* @brief Decode a radio message into a struct
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*
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* @param msg The message to decode
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* @param radio C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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radio->rssi = mavlink_msg_radio_get_rssi(msg);
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radio->remrssi = mavlink_msg_radio_get_remrssi(msg);
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radio->txbuf = mavlink_msg_radio_get_txbuf(msg);
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radio->noise = mavlink_msg_radio_get_noise(msg);
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radio->remnoise = mavlink_msg_radio_get_remnoise(msg);
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radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg);
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radio->fixed = mavlink_msg_radio_get_fixed(msg);
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#else
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memcpy(radio, _MAV_PAYLOAD(msg), 9);
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#endif
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}
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