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
205 lines
7.1 KiB
C
205 lines
7.1 KiB
C
// MESSAGE PARAM_VALUE PACKING
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#define MAVLINK_MSG_ID_PARAM_VALUE 22
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typedef struct __mavlink_param_value_t
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{
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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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uint16_t param_count; ///< Total number of onboard parameters
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uint16_t param_index; ///< Index of this onboard parameter
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} mavlink_param_value_t;
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#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 23
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#define MAVLINK_MSG_ID_22_LEN 23
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#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 15
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#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
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"PARAM_VALUE", \
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4, \
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{ { "param_id", MAVLINK_TYPE_INT8_T, 15, 0, offsetof(mavlink_param_value_t, param_id) }, \
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{ "param_value", MAVLINK_TYPE_FLOAT, 0, 15, offsetof(mavlink_param_value_t, param_value) }, \
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{ "param_count", MAVLINK_TYPE_UINT16_T, 0, 19, offsetof(mavlink_param_value_t, param_count) }, \
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{ "param_index", MAVLINK_TYPE_UINT16_T, 0, 21, offsetof(mavlink_param_value_t, param_index) }, \
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} \
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}
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/**
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* @brief Pack a param_value 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 param_id Onboard parameter id
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* @param param_value Onboard parameter value
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* @param param_count Total number of onboard parameters
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* @param param_index Index of this onboard parameter
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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_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[23];
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_mav_put_float(buf, 15, param_value);
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_mav_put_uint16_t(buf, 19, param_count);
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_mav_put_uint16_t(buf, 21, param_index);
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_mav_put_int8_t_array(buf, 0, param_id, 15);
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memcpy(_MAV_PAYLOAD(msg), buf, 23);
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#else
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mavlink_param_value_t packet;
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packet.param_value = param_value;
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packet.param_count = param_count;
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packet.param_index = param_index;
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memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
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memcpy(_MAV_PAYLOAD(msg), &packet, 23);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
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return mavlink_finalize_message(msg, system_id, component_id, 23);
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}
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/**
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* @brief Pack a param_value 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 param_id Onboard parameter id
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* @param param_value Onboard parameter value
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* @param param_count Total number of onboard parameters
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* @param param_index Index of this onboard parameter
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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_value_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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const int8_t *param_id,float param_value,uint16_t param_count,uint16_t param_index)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[23];
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_mav_put_float(buf, 15, param_value);
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_mav_put_uint16_t(buf, 19, param_count);
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_mav_put_uint16_t(buf, 21, param_index);
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_mav_put_int8_t_array(buf, 0, param_id, 15);
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memcpy(_MAV_PAYLOAD(msg), buf, 23);
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#else
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mavlink_param_value_t packet;
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packet.param_value = param_value;
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packet.param_count = param_count;
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packet.param_index = param_index;
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memcpy(packet.param_id, param_id, sizeof(int8_t)*15);
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memcpy(_MAV_PAYLOAD(msg), &packet, 23);
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#endif
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msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 23);
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}
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/**
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* @brief Encode a param_value 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_value C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
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{
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return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_count, param_value->param_index);
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}
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/**
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* @brief Send a param_value message
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* @param chan MAVLink channel to send the message
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*
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* @param param_id Onboard parameter id
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* @param param_value Onboard parameter value
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* @param param_count Total number of onboard parameters
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* @param param_index Index of this onboard parameter
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const int8_t *param_id, float param_value, uint16_t param_count, uint16_t param_index)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[23];
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_mav_put_float(buf, 15, param_value);
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_mav_put_uint16_t(buf, 19, param_count);
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_mav_put_uint16_t(buf, 21, param_index);
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_mav_put_int8_t_array(buf, 0, param_id, 15);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, 23);
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#else
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mavlink_param_value_t packet;
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packet.param_value = param_value;
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packet.param_count = param_count;
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packet.param_index = param_index;
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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_VALUE, (const char *)&packet, 23);
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#endif
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}
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#endif
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// MESSAGE PARAM_VALUE UNPACKING
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/**
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* @brief Get field param_id from param_value 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_value_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, 0);
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}
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/**
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* @brief Get field param_value from param_value 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_value_get_param_value(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 15);
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}
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/**
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* @brief Get field param_count from param_value message
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*
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* @return Total number of onboard parameters
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*/
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static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 19);
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}
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/**
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* @brief Get field param_index from param_value message
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*
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* @return Index of this onboard parameter
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*/
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static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 21);
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}
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/**
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* @brief Decode a param_value message into a struct
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*
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* @param msg The message to decode
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* @param param_value C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
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param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
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param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
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param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
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#else
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memcpy(param_value, _MAV_PAYLOAD(msg), 23);
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#endif
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}
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