Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/common/mavlink_msg_ping.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE PING PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_PING 3
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_ping_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint32_t seq; ///< PING sequence
shimniok 0:826c6171fc1b 8 uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 9 uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 10 uint64_t time; ///< Unix timestamp in microseconds
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12 } mavlink_ping_t;
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16 /**
shimniok 0:826c6171fc1b 17 * @brief Pack a ping message
shimniok 0:826c6171fc1b 18 * @param system_id ID of this system
shimniok 0:826c6171fc1b 19 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 20 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 21 *
shimniok 0:826c6171fc1b 22 * @param seq PING sequence
shimniok 0:826c6171fc1b 23 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 24 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 25 * @param time Unix timestamp in microseconds
shimniok 0:826c6171fc1b 26 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 27 */
shimniok 0:826c6171fc1b 28 static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
shimniok 0:826c6171fc1b 29 {
shimniok 0:826c6171fc1b 30 uint16_t i = 0;
shimniok 0:826c6171fc1b 31 msg->msgid = MAVLINK_MSG_ID_PING;
shimniok 0:826c6171fc1b 32
shimniok 0:826c6171fc1b 33 i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
shimniok 0:826c6171fc1b 34 i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 35 i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 36 i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
shimniok 0:826c6171fc1b 37
shimniok 0:826c6171fc1b 38 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 39 }
shimniok 0:826c6171fc1b 40
shimniok 0:826c6171fc1b 41 /**
shimniok 0:826c6171fc1b 42 * @brief Pack a ping message
shimniok 0:826c6171fc1b 43 * @param system_id ID of this system
shimniok 0:826c6171fc1b 44 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 45 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 46 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 47 * @param seq PING sequence
shimniok 0:826c6171fc1b 48 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 49 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 50 * @param time Unix timestamp in microseconds
shimniok 0:826c6171fc1b 51 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 52 */
shimniok 0:826c6171fc1b 53 static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
shimniok 0:826c6171fc1b 54 {
shimniok 0:826c6171fc1b 55 uint16_t i = 0;
shimniok 0:826c6171fc1b 56 msg->msgid = MAVLINK_MSG_ID_PING;
shimniok 0:826c6171fc1b 57
shimniok 0:826c6171fc1b 58 i += put_uint32_t_by_index(seq, i, msg->payload); // PING sequence
shimniok 0:826c6171fc1b 59 i += put_uint8_t_by_index(target_system, i, msg->payload); // 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 60 i += put_uint8_t_by_index(target_component, i, msg->payload); // 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 61 i += put_uint64_t_by_index(time, i, msg->payload); // Unix timestamp in microseconds
shimniok 0:826c6171fc1b 62
shimniok 0:826c6171fc1b 63 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 64 }
shimniok 0:826c6171fc1b 65
shimniok 0:826c6171fc1b 66 /**
shimniok 0:826c6171fc1b 67 * @brief Encode a ping struct into a message
shimniok 0:826c6171fc1b 68 *
shimniok 0:826c6171fc1b 69 * @param system_id ID of this system
shimniok 0:826c6171fc1b 70 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 71 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 72 * @param ping C-struct to read the message contents from
shimniok 0:826c6171fc1b 73 */
shimniok 0:826c6171fc1b 74 static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
shimniok 0:826c6171fc1b 75 {
shimniok 0:826c6171fc1b 76 return mavlink_msg_ping_pack(system_id, component_id, msg, ping->seq, ping->target_system, ping->target_component, ping->time);
shimniok 0:826c6171fc1b 77 }
shimniok 0:826c6171fc1b 78
shimniok 0:826c6171fc1b 79 /**
shimniok 0:826c6171fc1b 80 * @brief Send a ping message
shimniok 0:826c6171fc1b 81 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 82 *
shimniok 0:826c6171fc1b 83 * @param seq PING sequence
shimniok 0:826c6171fc1b 84 * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 85 * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 86 * @param time Unix timestamp in microseconds
shimniok 0:826c6171fc1b 87 */
shimniok 0:826c6171fc1b 88 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 89
shimniok 0:826c6171fc1b 90 static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint32_t seq, uint8_t target_system, uint8_t target_component, uint64_t time)
shimniok 0:826c6171fc1b 91 {
shimniok 0:826c6171fc1b 92 mavlink_message_t msg;
shimniok 0:826c6171fc1b 93 mavlink_msg_ping_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seq, target_system, target_component, time);
shimniok 0:826c6171fc1b 94 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 95 }
shimniok 0:826c6171fc1b 96
shimniok 0:826c6171fc1b 97 #endif
shimniok 0:826c6171fc1b 98 // MESSAGE PING UNPACKING
shimniok 0:826c6171fc1b 99
shimniok 0:826c6171fc1b 100 /**
shimniok 0:826c6171fc1b 101 * @brief Get field seq from ping message
shimniok 0:826c6171fc1b 102 *
shimniok 0:826c6171fc1b 103 * @return PING sequence
shimniok 0:826c6171fc1b 104 */
shimniok 0:826c6171fc1b 105 static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 106 {
shimniok 0:826c6171fc1b 107 generic_32bit r;
shimniok 0:826c6171fc1b 108 r.b[3] = (msg->payload)[0];
shimniok 0:826c6171fc1b 109 r.b[2] = (msg->payload)[1];
shimniok 0:826c6171fc1b 110 r.b[1] = (msg->payload)[2];
shimniok 0:826c6171fc1b 111 r.b[0] = (msg->payload)[3];
shimniok 0:826c6171fc1b 112 return (uint32_t)r.i;
shimniok 0:826c6171fc1b 113 }
shimniok 0:826c6171fc1b 114
shimniok 0:826c6171fc1b 115 /**
shimniok 0:826c6171fc1b 116 * @brief Get field target_system from ping message
shimniok 0:826c6171fc1b 117 *
shimniok 0:826c6171fc1b 118 * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 119 */
shimniok 0:826c6171fc1b 120 static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 121 {
shimniok 0:826c6171fc1b 122 return (uint8_t)(msg->payload+sizeof(uint32_t))[0];
shimniok 0:826c6171fc1b 123 }
shimniok 0:826c6171fc1b 124
shimniok 0:826c6171fc1b 125 /**
shimniok 0:826c6171fc1b 126 * @brief Get field target_component from ping message
shimniok 0:826c6171fc1b 127 *
shimniok 0:826c6171fc1b 128 * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
shimniok 0:826c6171fc1b 129 */
shimniok 0:826c6171fc1b 130 static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 131 {
shimniok 0:826c6171fc1b 132 return (uint8_t)(msg->payload+sizeof(uint32_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 133 }
shimniok 0:826c6171fc1b 134
shimniok 0:826c6171fc1b 135 /**
shimniok 0:826c6171fc1b 136 * @brief Get field time from ping message
shimniok 0:826c6171fc1b 137 *
shimniok 0:826c6171fc1b 138 * @return Unix timestamp in microseconds
shimniok 0:826c6171fc1b 139 */
shimniok 0:826c6171fc1b 140 static inline uint64_t mavlink_msg_ping_get_time(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 141 {
shimniok 0:826c6171fc1b 142 generic_64bit r;
shimniok 0:826c6171fc1b 143 r.b[7] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 144 r.b[6] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:826c6171fc1b 145 r.b[5] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
shimniok 0:826c6171fc1b 146 r.b[4] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
shimniok 0:826c6171fc1b 147 r.b[3] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[4];
shimniok 0:826c6171fc1b 148 r.b[2] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[5];
shimniok 0:826c6171fc1b 149 r.b[1] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[6];
shimniok 0:826c6171fc1b 150 r.b[0] = (msg->payload+sizeof(uint32_t)+sizeof(uint8_t)+sizeof(uint8_t))[7];
shimniok 0:826c6171fc1b 151 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 152 }
shimniok 0:826c6171fc1b 153
shimniok 0:826c6171fc1b 154 /**
shimniok 0:826c6171fc1b 155 * @brief Decode a ping message into a struct
shimniok 0:826c6171fc1b 156 *
shimniok 0:826c6171fc1b 157 * @param msg The message to decode
shimniok 0:826c6171fc1b 158 * @param ping C-struct to decode the message contents into
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 ping->seq = mavlink_msg_ping_get_seq(msg);
shimniok 0:826c6171fc1b 163 ping->target_system = mavlink_msg_ping_get_target_system(msg);
shimniok 0:826c6171fc1b 164 ping->target_component = mavlink_msg_ping_get_target_component(msg);
shimniok 0:826c6171fc1b 165 ping->time = mavlink_msg_ping_get_time(msg);
shimniok 0:826c6171fc1b 166 }