3ae2186021
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
205 lines
6.9 KiB
C
205 lines
6.9 KiB
C
// MESSAGE PARAM_SET PACKING
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#define MAVLINK_MSG_ID_PARAM_SET 23
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typedef struct __mavlink_param_set_t
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{
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uint8_t target_system; ///< System ID
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uint8_t target_component; ///< Component ID
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int8_t param_id[15]; ///< Onboard parameter id
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float param_value; ///< Onboard parameter value
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} mavlink_param_set_t;
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#define MAVLINK_MSG_ID_PARAM_SET_LEN 21
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#define MAVLINK_MSG_ID_23_LEN 21
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#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15
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#define MAVLINK_MESSAGE_INFO_PARAM_SET { \
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"PARAM_SET", \
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4, \
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{ { "target_system", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_set_t, target_system) }, \
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{ "target_component", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_set_t, target_component) }, \
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{ "param_id", MAVLINK_TYPE_INT8_T, 15, 2, offsetof(mavlink_param_set_t, param_id) }, \
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{ "param_value", MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_param_set_t, param_value) }, \
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} \
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}
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/**
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* @brief Pack a param_set 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 ID
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* @param target_component Component ID
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* @param param_id Onboard parameter id
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* @param param_value Onboard parameter 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_param_set_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, const int8_t *param_id, float param_value)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[21];
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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_float(buf, 17, param_value);
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_mav_put_int8_t_array(buf, 2, param_id, 15);
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memcpy(_MAV_PAYLOAD(msg), buf, 21);
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#else
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mavlink_param_set_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.param_value = param_value;
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memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
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memcpy(_MAV_PAYLOAD(msg), &packet, 21);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
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return mavlink_finalize_message(msg, system_id, component_id, 21);
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}
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/**
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* @brief Pack a param_set 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 ID
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* @param target_component Component ID
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* @param param_id Onboard parameter id
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* @param param_value Onboard parameter 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_param_set_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,const int8_t *param_id,float param_value)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[21];
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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_float(buf, 17, param_value);
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_mav_put_int8_t_array(buf, 2, param_id, 15);
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memcpy(_MAV_PAYLOAD(msg), buf, 21);
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#else
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mavlink_param_set_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.param_value = param_value;
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memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
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memcpy(_MAV_PAYLOAD(msg), &packet, 21);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 21);
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}
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/**
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* @brief Encode a param_set 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 param_set C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
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{
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return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value);
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}
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/**
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* @brief Send a param_set 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 ID
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* @param target_component Component ID
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* @param param_id Onboard parameter id
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* @param param_value Onboard parameter value
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t *param_id, float param_value)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[21];
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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_float(buf, 17, param_value);
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_mav_put_int8_t_array(buf, 2, param_id, 15);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, 21);
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#else
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mavlink_param_set_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.param_value = param_value;
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memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, 21);
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#endif
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}
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#endif
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// MESSAGE PARAM_SET UNPACKING
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/**
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* @brief Get field target_system from param_set message
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*
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* @return System ID
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*/
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static inline uint8_t mavlink_msg_param_set_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 param_set message
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*
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* @return Component ID
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*/
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static inline uint8_t mavlink_msg_param_set_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 param_id from param_set message
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*
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* @return Onboard parameter id
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*/
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static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t *param_id)
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{
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return _MAV_RETURN_int8_t_array(msg, param_id, 15, 2);
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}
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/**
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* @brief Get field param_value from param_set message
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*
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* @return Onboard parameter value
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*/
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static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 17);
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}
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/**
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* @brief Decode a param_set message into a struct
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*
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* @param msg The message to decode
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* @param param_set C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
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param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
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mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
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param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
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#else
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memcpy(param_set, _MAV_PAYLOAD(msg), 21);
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#endif
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}
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