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
277 lines
10 KiB
C
277 lines
10 KiB
C
// MESSAGE SYS_STATUS PACKING
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#define MAVLINK_MSG_ID_SYS_STATUS 34
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typedef struct __mavlink_sys_status_t
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{
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uint8_t mode; ///< System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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uint8_t nav_mode; ///< Navigation mode, see MAV_NAV_MODE ENUM
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uint8_t status; ///< System status flag, see MAV_STATUS ENUM
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uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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uint16_t vbat; ///< Battery voltage, in millivolts (1 = 1 millivolt)
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uint16_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 1000)
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uint16_t packet_drop; ///< Dropped packets (packets that were corrupted on reception on the MAV)
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} mavlink_sys_status_t;
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#define MAVLINK_MSG_ID_SYS_STATUS_LEN 11
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#define MAVLINK_MSG_ID_34_LEN 11
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#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
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"SYS_STATUS", \
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7, \
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{ { "mode", MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_status_t, mode) }, \
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{ "nav_mode", MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_status_t, nav_mode) }, \
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{ "status", MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_status_t, status) }, \
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{ "load", MAVLINK_TYPE_UINT16_T, 0, 3, offsetof(mavlink_sys_status_t, load) }, \
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{ "vbat", MAVLINK_TYPE_UINT16_T, 0, 5, offsetof(mavlink_sys_status_t, vbat) }, \
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{ "battery_remaining", MAVLINK_TYPE_UINT16_T, 0, 7, offsetof(mavlink_sys_status_t, battery_remaining) }, \
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{ "packet_drop", MAVLINK_TYPE_UINT16_T, 0, 9, offsetof(mavlink_sys_status_t, packet_drop) }, \
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} \
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}
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/**
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* @brief Pack a sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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* @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
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* @param status System status flag, see MAV_STATUS ENUM
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
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* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
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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_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[11];
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_mav_put_uint8_t(buf, 0, mode);
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_mav_put_uint8_t(buf, 1, nav_mode);
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_mav_put_uint8_t(buf, 2, status);
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_mav_put_uint16_t(buf, 3, load);
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_mav_put_uint16_t(buf, 5, vbat);
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_mav_put_uint16_t(buf, 7, battery_remaining);
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_mav_put_uint16_t(buf, 9, packet_drop);
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memcpy(_MAV_PAYLOAD(msg), buf, 11);
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#else
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mavlink_sys_status_t packet;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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packet.status = status;
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packet.load = load;
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packet.vbat = vbat;
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packet.battery_remaining = battery_remaining;
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packet.packet_drop = packet_drop;
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memcpy(_MAV_PAYLOAD(msg), &packet, 11);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, 11);
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}
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/**
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* @brief Pack a sys_status 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 mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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* @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
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* @param status System status flag, see MAV_STATUS ENUM
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
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* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
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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_sys_status_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 mode,uint8_t nav_mode,uint8_t status,uint16_t load,uint16_t vbat,uint16_t battery_remaining,uint16_t packet_drop)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[11];
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_mav_put_uint8_t(buf, 0, mode);
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_mav_put_uint8_t(buf, 1, nav_mode);
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_mav_put_uint8_t(buf, 2, status);
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_mav_put_uint16_t(buf, 3, load);
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_mav_put_uint16_t(buf, 5, vbat);
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_mav_put_uint16_t(buf, 7, battery_remaining);
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_mav_put_uint16_t(buf, 9, packet_drop);
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memcpy(_MAV_PAYLOAD(msg), buf, 11);
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#else
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mavlink_sys_status_t packet;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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packet.status = status;
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packet.load = load;
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packet.vbat = vbat;
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packet.battery_remaining = battery_remaining;
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packet.packet_drop = packet_drop;
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memcpy(_MAV_PAYLOAD(msg), &packet, 11);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11);
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}
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/**
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* @brief Encode a sys_status 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 sys_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
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{
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return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->mode, sys_status->nav_mode, sys_status->status, sys_status->load, sys_status->vbat, sys_status->battery_remaining, sys_status->packet_drop);
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}
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/**
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* @brief Send a sys_status message
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* @param chan MAVLink channel to send the message
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*
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* @param mode System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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* @param nav_mode Navigation mode, see MAV_NAV_MODE ENUM
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* @param status System status flag, see MAV_STATUS ENUM
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* @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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* @param vbat Battery voltage, in millivolts (1 = 1 millivolt)
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* @param battery_remaining Remaining battery energy: (0%: 0, 100%: 1000)
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* @param packet_drop Dropped packets (packets that were corrupted on reception on the MAV)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint8_t mode, uint8_t nav_mode, uint8_t status, uint16_t load, uint16_t vbat, uint16_t battery_remaining, uint16_t packet_drop)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[11];
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_mav_put_uint8_t(buf, 0, mode);
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_mav_put_uint8_t(buf, 1, nav_mode);
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_mav_put_uint8_t(buf, 2, status);
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_mav_put_uint16_t(buf, 3, load);
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_mav_put_uint16_t(buf, 5, vbat);
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_mav_put_uint16_t(buf, 7, battery_remaining);
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_mav_put_uint16_t(buf, 9, packet_drop);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, 11);
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#else
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mavlink_sys_status_t packet;
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packet.mode = mode;
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packet.nav_mode = nav_mode;
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packet.status = status;
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packet.load = load;
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packet.vbat = vbat;
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packet.battery_remaining = battery_remaining;
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packet.packet_drop = packet_drop;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, 11);
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#endif
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}
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#endif
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// MESSAGE SYS_STATUS UNPACKING
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/**
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* @brief Get field mode from sys_status message
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*
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* @return System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h
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*/
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static inline uint8_t mavlink_msg_sys_status_get_mode(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 nav_mode from sys_status message
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*
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* @return Navigation mode, see MAV_NAV_MODE ENUM
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*/
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static inline uint8_t mavlink_msg_sys_status_get_nav_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 Get field status from sys_status message
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*
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* @return System status flag, see MAV_STATUS ENUM
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*/
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static inline uint8_t mavlink_msg_sys_status_get_status(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Get field load from sys_status message
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*
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* @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
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*/
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static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 3);
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}
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/**
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* @brief Get field vbat from sys_status message
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*
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* @return Battery voltage, in millivolts (1 = 1 millivolt)
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*/
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static inline uint16_t mavlink_msg_sys_status_get_vbat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 5);
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}
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/**
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* @brief Get field battery_remaining from sys_status message
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*
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* @return Remaining battery energy: (0%: 0, 100%: 1000)
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*/
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static inline uint16_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 7);
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}
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/**
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* @brief Get field packet_drop from sys_status message
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*
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* @return Dropped packets (packets that were corrupted on reception on the MAV)
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*/
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static inline uint16_t mavlink_msg_sys_status_get_packet_drop(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 9);
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}
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/**
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* @brief Decode a sys_status message into a struct
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*
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* @param msg The message to decode
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* @param sys_status C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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sys_status->mode = mavlink_msg_sys_status_get_mode(msg);
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sys_status->nav_mode = mavlink_msg_sys_status_get_nav_mode(msg);
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sys_status->status = mavlink_msg_sys_status_get_status(msg);
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sys_status->load = mavlink_msg_sys_status_get_load(msg);
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sys_status->vbat = mavlink_msg_sys_status_get_vbat(msg);
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sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
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sys_status->packet_drop = mavlink_msg_sys_status_get_packet_drop(msg);
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#else
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memcpy(sys_status, _MAV_PAYLOAD(msg), 11);
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#endif
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}
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