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
145 lines
4.1 KiB
C
145 lines
4.1 KiB
C
// MESSAGE WAYPOINT_REACHED PACKING
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#define MAVLINK_MSG_ID_WAYPOINT_REACHED 46
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typedef struct __mavlink_waypoint_reached_t
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{
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uint16_t seq; ///< Sequence
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} mavlink_waypoint_reached_t;
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#define MAVLINK_MSG_ID_WAYPOINT_REACHED_LEN 2
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#define MAVLINK_MSG_ID_46_LEN 2
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#define MAVLINK_MESSAGE_INFO_WAYPOINT_REACHED { \
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"WAYPOINT_REACHED", \
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1, \
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{ { "seq", MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_waypoint_reached_t, seq) }, \
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} \
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}
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/**
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* @brief Pack a waypoint_reached 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 seq Sequence
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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_waypoint_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t seq)
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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_uint16_t(buf, 0, seq);
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memcpy(_MAV_PAYLOAD(msg), buf, 2);
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#else
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mavlink_waypoint_reached_t packet;
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packet.seq = seq;
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memcpy(_MAV_PAYLOAD(msg), &packet, 2);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
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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 waypoint_reached 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 seq Sequence
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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_waypoint_reached_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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uint16_t seq)
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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_uint16_t(buf, 0, seq);
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memcpy(_MAV_PAYLOAD(msg), buf, 2);
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#else
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mavlink_waypoint_reached_t packet;
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packet.seq = seq;
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memcpy(_MAV_PAYLOAD(msg), &packet, 2);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WAYPOINT_REACHED;
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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 waypoint_reached 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 waypoint_reached C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_waypoint_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_reached_t* waypoint_reached)
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{
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return mavlink_msg_waypoint_reached_pack(system_id, component_id, msg, waypoint_reached->seq);
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}
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/**
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* @brief Send a waypoint_reached message
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* @param chan MAVLink channel to send the message
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*
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* @param seq Sequence
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_waypoint_reached_send(mavlink_channel_t chan, uint16_t seq)
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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_uint16_t(buf, 0, seq);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, buf, 2);
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#else
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mavlink_waypoint_reached_t packet;
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packet.seq = seq;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WAYPOINT_REACHED, (const char *)&packet, 2);
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#endif
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}
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#endif
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// MESSAGE WAYPOINT_REACHED UNPACKING
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/**
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* @brief Get field seq from waypoint_reached message
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*
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* @return Sequence
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*/
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static inline uint16_t mavlink_msg_waypoint_reached_get_seq(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 0);
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}
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/**
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* @brief Decode a waypoint_reached message into a struct
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*
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* @param msg The message to decode
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* @param waypoint_reached C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_waypoint_reached_decode(const mavlink_message_t* msg, mavlink_waypoint_reached_t* waypoint_reached)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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waypoint_reached->seq = mavlink_msg_waypoint_reached_get_seq(msg);
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#else
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memcpy(waypoint_reached, _MAV_PAYLOAD(msg), 2);
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#endif
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}
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