mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.8 KiB
C
145 lines
3.8 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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#define MAVLINK_MSG_ID_BOOT_LEN 4
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#define MAVLINK_MSG_ID_1_LEN 4
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#define MAVLINK_MESSAGE_INFO_BOOT { \
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"BOOT", \
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1, \
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{ { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
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} \
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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 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,
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uint32_t version)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[4];
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_mav_put_uint32_t(buf, 0, version);
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memcpy(_MAV_PAYLOAD(msg), buf, 4);
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#else
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mavlink_boot_t packet;
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packet.version = version;
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memcpy(_MAV_PAYLOAD(msg), &packet, 4);
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#endif
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msg->msgid = MAVLINK_MSG_ID_BOOT;
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return mavlink_finalize_message(msg, system_id, component_id, 4);
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}
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/**
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* @brief Pack a boot 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 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,
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mavlink_message_t* msg,
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uint32_t version)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[4];
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_mav_put_uint32_t(buf, 0, version);
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memcpy(_MAV_PAYLOAD(msg), buf, 4);
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#else
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mavlink_boot_t packet;
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packet.version = version;
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memcpy(_MAV_PAYLOAD(msg), &packet, 4);
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#endif
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msg->msgid = MAVLINK_MSG_ID_BOOT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
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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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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[4];
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_mav_put_uint32_t(buf, 0, version);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4);
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#else
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mavlink_boot_t packet;
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packet.version = version;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4);
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#endif
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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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return _MAV_RETURN_uint32_t(msg, 0);
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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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#if MAVLINK_NEED_BYTE_SWAP
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boot->version = mavlink_msg_boot_get_version(msg);
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#else
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memcpy(boot, _MAV_PAYLOAD(msg), 4);
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#endif
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}
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