mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -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
299 lines
11 KiB
C
299 lines
11 KiB
C
// MESSAGE COMMAND PACKING
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#define MAVLINK_MSG_ID_COMMAND 75
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typedef struct __mavlink_command_t
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{
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uint8_t target_system; ///< System which should execute the command
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uint8_t target_component; ///< Component which should execute the command, 0 for all components
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uint8_t command; ///< Command ID, as defined by MAV_CMD enum.
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uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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float param1; ///< Parameter 1, as defined by MAV_CMD enum.
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float param2; ///< Parameter 2, as defined by MAV_CMD enum.
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float param3; ///< Parameter 3, as defined by MAV_CMD enum.
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float param4; ///< Parameter 4, as defined by MAV_CMD enum.
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} mavlink_command_t;
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#define MAVLINK_MSG_ID_COMMAND_LEN 20
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#define MAVLINK_MSG_ID_75_LEN 20
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#define MAVLINK_MESSAGE_INFO_COMMAND { \
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"COMMAND", \
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8, \
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{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_command_t, target_system) }, \
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{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_command_t, target_component) }, \
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{ "command", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_t, command) }, \
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{ "confirmation", MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_t, confirmation) }, \
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{ "param1", MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_t, param1) }, \
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{ "param2", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_t, param2) }, \
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{ "param3", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_t, param3) }, \
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{ "param4", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_t, param4) }, \
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} \
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}
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/**
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* @brief Pack a command 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 target_system System which should execute the command
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* @param target_component Component which should execute the command, 0 for all components
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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* @param param1 Parameter 1, as defined by MAV_CMD enum.
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* @param param2 Parameter 2, as defined by MAV_CMD enum.
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* @param param3 Parameter 3, as defined by MAV_CMD enum.
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* @param param4 Parameter 4, as defined by MAV_CMD 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_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint8_t(buf, 0, target_system);
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_mav_put_uint8_t(buf, 1, target_component);
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_mav_put_uint8_t(buf, 2, command);
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_mav_put_uint8_t(buf, 3, confirmation);
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_mav_put_float(buf, 4, param1);
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_mav_put_float(buf, 8, param2);
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_mav_put_float(buf, 12, param3);
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_mav_put_float(buf, 16, param4);
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memcpy(_MAV_PAYLOAD(msg), buf, 20);
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#else
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mavlink_command_t packet;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.command = command;
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packet.confirmation = confirmation;
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packet.param1 = param1;
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packet.param2 = param2;
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packet.param3 = param3;
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packet.param4 = param4;
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memcpy(_MAV_PAYLOAD(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND;
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return mavlink_finalize_message(msg, system_id, component_id, 20);
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}
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/**
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* @brief Pack a command 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 target_system System which should execute the command
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* @param target_component Component which should execute the command, 0 for all components
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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* @param param1 Parameter 1, as defined by MAV_CMD enum.
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* @param param2 Parameter 2, as defined by MAV_CMD enum.
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* @param param3 Parameter 3, as defined by MAV_CMD enum.
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* @param param4 Parameter 4, as defined by MAV_CMD 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_command_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 target_system,uint8_t target_component,uint8_t command,uint8_t confirmation,float param1,float param2,float param3,float param4)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint8_t(buf, 0, target_system);
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_mav_put_uint8_t(buf, 1, target_component);
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_mav_put_uint8_t(buf, 2, command);
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_mav_put_uint8_t(buf, 3, confirmation);
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_mav_put_float(buf, 4, param1);
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_mav_put_float(buf, 8, param2);
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_mav_put_float(buf, 12, param3);
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_mav_put_float(buf, 16, param4);
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memcpy(_MAV_PAYLOAD(msg), buf, 20);
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#else
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mavlink_command_t packet;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.command = command;
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packet.confirmation = confirmation;
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packet.param1 = param1;
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packet.param2 = param2;
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packet.param3 = param3;
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packet.param4 = param4;
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memcpy(_MAV_PAYLOAD(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
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}
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/**
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* @brief Encode a command 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 command C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command)
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{
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return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4);
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}
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/**
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* @brief Send a command message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System which should execute the command
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* @param target_component Component which should execute the command, 0 for all components
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* @param command Command ID, as defined by MAV_CMD enum.
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* @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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* @param param1 Parameter 1, as defined by MAV_CMD enum.
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* @param param2 Parameter 2, as defined by MAV_CMD enum.
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* @param param3 Parameter 3, as defined by MAV_CMD enum.
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* @param param4 Parameter 4, as defined by MAV_CMD enum.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint8_t(buf, 0, target_system);
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_mav_put_uint8_t(buf, 1, target_component);
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_mav_put_uint8_t(buf, 2, command);
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_mav_put_uint8_t(buf, 3, confirmation);
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_mav_put_float(buf, 4, param1);
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_mav_put_float(buf, 8, param2);
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_mav_put_float(buf, 12, param3);
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_mav_put_float(buf, 16, param4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, buf, 20);
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#else
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mavlink_command_t packet;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.command = command;
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packet.confirmation = confirmation;
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packet.param1 = param1;
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packet.param2 = param2;
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packet.param3 = param3;
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packet.param4 = param4;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND, (const char *)&packet, 20);
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#endif
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}
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#endif
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// MESSAGE COMMAND UNPACKING
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/**
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* @brief Get field target_system from command message
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*
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* @return System which should execute the command
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*/
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static inline uint8_t mavlink_msg_command_get_target_system(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 target_component from command message
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*
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* @return Component which should execute the command, 0 for all components
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*/
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static inline uint8_t mavlink_msg_command_get_target_component(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 command from command message
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*
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* @return Command ID, as defined by MAV_CMD enum.
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*/
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static inline uint8_t mavlink_msg_command_get_command(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 confirmation from command message
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*
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* @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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*/
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static inline uint8_t mavlink_msg_command_get_confirmation(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 param1 from command message
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*
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* @return Parameter 1, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field param2 from command message
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*
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* @return Parameter 2, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field param3 from command message
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*
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* @return Parameter 3, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field param4 from command message
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*
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* @return Parameter 4, as defined by MAV_CMD enum.
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*/
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static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Decode a command message into a struct
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*
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* @param msg The message to decode
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* @param command C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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command->target_system = mavlink_msg_command_get_target_system(msg);
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command->target_component = mavlink_msg_command_get_target_component(msg);
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command->command = mavlink_msg_command_get_command(msg);
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command->confirmation = mavlink_msg_command_get_confirmation(msg);
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command->param1 = mavlink_msg_command_get_param1(msg);
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command->param2 = mavlink_msg_command_get_param2(msg);
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command->param3 = mavlink_msg_command_get_param3(msg);
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command->param4 = mavlink_msg_command_get_param4(msg);
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#else
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memcpy(command, _MAV_PAYLOAD(msg), 20);
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#endif
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}
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