ardupilot/libraries/GCS_MAVLink/include/common/mavlink_msg_boot.h

145 lines
3.8 KiB
C

// MESSAGE BOOT PACKING
#define MAVLINK_MSG_ID_BOOT 1
typedef struct __mavlink_boot_t
{
uint32_t version; ///< The onboard software version
} mavlink_boot_t;
#define MAVLINK_MSG_ID_BOOT_LEN 4
#define MAVLINK_MSG_ID_1_LEN 4
#define MAVLINK_MESSAGE_INFO_BOOT { \
"BOOT", \
1, \
{ { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
} \
}
/**
* @brief Pack a boot message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
return mavlink_finalize_message(msg, system_id, component_id, 4);
}
/**
* @brief Pack a boot message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD(msg), buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD(msg), &packet, 4);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4);
}
/**
* @brief Encode a boot struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param boot C-struct to read the message contents from
*/
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)
{
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
}
/**
* @brief Send a boot message
* @param chan MAVLink channel to send the message
*
* @param version The onboard software version
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[4];
_mav_put_uint32_t(buf, 0, version);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, 4);
#else
mavlink_boot_t packet;
packet.version = version;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, 4);
#endif
}
#endif
// MESSAGE BOOT UNPACKING
/**
* @brief Get field version from boot message
*
* @return The onboard software version
*/
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Decode a boot message into a struct
*
* @param msg The message to decode
* @param boot C-struct to decode the message contents into
*/
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
{
#if MAVLINK_NEED_BYTE_SWAP
boot->version = mavlink_msg_boot_get_version(msg);
#else
memcpy(boot, _MAV_PAYLOAD(msg), 4);
#endif
}