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
167 lines
4.6 KiB
C
167 lines
4.6 KiB
C
// MESSAGE SET_MODE PACKING
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#define MAVLINK_MSG_ID_SET_MODE 11
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typedef struct __mavlink_set_mode_t
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{
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uint8_t target; ///< The system setting the mode
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uint8_t mode; ///< The new mode
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} mavlink_set_mode_t;
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#define MAVLINK_MSG_ID_SET_MODE_LEN 2
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#define MAVLINK_MSG_ID_11_LEN 2
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#define MAVLINK_MESSAGE_INFO_SET_MODE { \
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"SET_MODE", \
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2, \
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{ { "target", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_set_mode_t, target) }, \
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{ "mode", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_set_mode_t, mode) }, \
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} \
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}
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/**
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* @brief Pack a set_mode 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 The system setting the mode
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* @param mode The new mode
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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_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target, uint8_t mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[2];
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_mav_put_uint8_t(buf, 0, target);
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_mav_put_uint8_t(buf, 1, mode);
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memcpy(_MAV_PAYLOAD(msg), buf, 2);
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#else
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mavlink_set_mode_t packet;
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packet.target = target;
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packet.mode = mode;
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memcpy(_MAV_PAYLOAD(msg), &packet, 2);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_MODE;
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return mavlink_finalize_message(msg, system_id, component_id, 2);
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}
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/**
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* @brief Pack a set_mode 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 The system setting the mode
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* @param mode The new mode
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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_set_mode_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,uint8_t mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[2];
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_mav_put_uint8_t(buf, 0, target);
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_mav_put_uint8_t(buf, 1, mode);
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memcpy(_MAV_PAYLOAD(msg), buf, 2);
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#else
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mavlink_set_mode_t packet;
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packet.target = target;
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packet.mode = mode;
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memcpy(_MAV_PAYLOAD(msg), &packet, 2);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_MODE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 2);
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}
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/**
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* @brief Encode a set_mode 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 set_mode C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
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{
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return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode);
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}
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/**
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* @brief Send a set_mode message
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* @param chan MAVLink channel to send the message
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*
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* @param target The system setting the mode
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* @param mode The new mode
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[2];
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_mav_put_uint8_t(buf, 0, target);
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_mav_put_uint8_t(buf, 1, mode);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 2);
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#else
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mavlink_set_mode_t packet;
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packet.target = target;
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packet.mode = mode;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 2);
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#endif
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}
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#endif
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// MESSAGE SET_MODE UNPACKING
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/**
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* @brief Get field target from set_mode message
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*
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* @return The system setting the mode
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*/
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static inline uint8_t mavlink_msg_set_mode_get_target(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 mode from set_mode message
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*
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* @return The new mode
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*/
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static inline uint8_t mavlink_msg_set_mode_get_mode(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 Decode a set_mode message into a struct
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*
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* @param msg The message to decode
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* @param set_mode C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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set_mode->target = mavlink_msg_set_mode_get_target(msg);
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set_mode->mode = mavlink_msg_set_mode_get_mode(msg);
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#else
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memcpy(set_mode, _MAV_PAYLOAD(msg), 2);
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#endif
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}
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