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
145 lines
4.3 KiB
C
145 lines
4.3 KiB
C
// MESSAGE SYSTEM_TIME PACKING
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#define MAVLINK_MSG_ID_SYSTEM_TIME 2
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typedef struct __mavlink_system_time_t
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{
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uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
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} mavlink_system_time_t;
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#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 8
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#define MAVLINK_MSG_ID_2_LEN 8
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#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
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"SYSTEM_TIME", \
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1, \
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{ { "time_usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_usec) }, \
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} \
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}
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/**
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* @brief Pack a system_time 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 time_usec Timestamp of the master clock in microseconds since UNIX epoch.
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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_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[8];
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_mav_put_uint64_t(buf, 0, time_usec);
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memcpy(_MAV_PAYLOAD(msg), buf, 8);
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#else
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mavlink_system_time_t packet;
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packet.time_usec = time_usec;
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memcpy(_MAV_PAYLOAD(msg), &packet, 8);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
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return mavlink_finalize_message(msg, system_id, component_id, 8);
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}
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/**
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* @brief Pack a system_time 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 time_usec Timestamp of the master clock in microseconds since UNIX epoch.
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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_system_time_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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uint64_t time_usec)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[8];
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_mav_put_uint64_t(buf, 0, time_usec);
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memcpy(_MAV_PAYLOAD(msg), buf, 8);
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#else
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mavlink_system_time_t packet;
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packet.time_usec = time_usec;
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memcpy(_MAV_PAYLOAD(msg), &packet, 8);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8);
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}
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/**
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* @brief Encode a system_time 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 system_time C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
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{
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return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec);
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}
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/**
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* @brief Send a system_time message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp of the master clock in microseconds since UNIX epoch.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[8];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 8);
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#else
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mavlink_system_time_t packet;
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packet.time_usec = time_usec;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 8);
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#endif
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}
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#endif
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// MESSAGE SYSTEM_TIME UNPACKING
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/**
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* @brief Get field time_usec from system_time message
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*
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* @return Timestamp of the master clock in microseconds since UNIX epoch.
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*/
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static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Decode a system_time message into a struct
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*
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* @param msg The message to decode
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* @param system_time C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg);
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#else
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memcpy(system_time, _MAV_PAYLOAD(msg), 8);
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#endif
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}
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