mirror of https://github.com/ArduPilot/ardupilot
124 lines
3.6 KiB
C
124 lines
3.6 KiB
C
// MESSAGE DEBUG PACKING
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#define MAVLINK_MSG_ID_DEBUG 255
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typedef struct __mavlink_debug_t
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{
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uint8_t ind; ///< index of debug variable
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float value; ///< DEBUG value
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} mavlink_debug_t;
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/**
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* @brief Pack a debug 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 ind index of debug variable
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* @param value DEBUG value
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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_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_DEBUG;
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i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
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i += put_float_by_index(value, i, msg->payload); // DEBUG value
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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/**
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* @brief Pack a debug 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 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 ind index of debug variable
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* @param value DEBUG value
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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_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_DEBUG;
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i += put_uint8_t_by_index(ind, i, msg->payload); // index of debug variable
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i += put_float_by_index(value, i, msg->payload); // DEBUG value
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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/**
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* @brief Encode a debug 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 debug C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
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{
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return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value);
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}
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/**
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* @brief Send a debug message
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* @param chan MAVLink channel to send the message
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*
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* @param ind index of debug variable
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* @param value DEBUG value
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value)
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{
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mavlink_message_t msg;
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mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE DEBUG UNPACKING
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/**
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* @brief Get field ind from debug message
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*
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* @return index of debug variable
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*/
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static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
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{
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return (uint8_t)(msg->payload)[0];
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}
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/**
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* @brief Get field value from debug message
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*
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* @return DEBUG value
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*/
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static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint8_t))[0];
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r.b[2] = (msg->payload+sizeof(uint8_t))[1];
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r.b[1] = (msg->payload+sizeof(uint8_t))[2];
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r.b[0] = (msg->payload+sizeof(uint8_t))[3];
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return (float)r.f;
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}
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/**
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* @brief Decode a debug message into a struct
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*
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* @param msg The message to decode
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* @param debug C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
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{
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debug->ind = mavlink_msg_debug_get_ind(msg);
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debug->value = mavlink_msg_debug_get_value(msg);
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}
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