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_request_data_stream.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 REQUEST_DATA_STREAM PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_request_data_stream_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t target_system; ///< The target requested to send the message stream.
shimniok 0:826c6171fc1b 8 uint8_t target_component; ///< The target requested to send the message stream.
shimniok 0:826c6171fc1b 9 uint8_t req_stream_id; ///< The ID of the requested message type
shimniok 0:826c6171fc1b 10 uint16_t req_message_rate; ///< Update rate in Hertz
shimniok 0:826c6171fc1b 11 uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 12
shimniok 0:826c6171fc1b 13 } mavlink_request_data_stream_t;
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17 /**
shimniok 0:826c6171fc1b 18 * @brief Pack a request_data_stream message
shimniok 0:826c6171fc1b 19 * @param system_id ID of this system
shimniok 0:826c6171fc1b 20 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 21 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 22 *
shimniok 0:826c6171fc1b 23 * @param target_system The target requested to send the message stream.
shimniok 0:826c6171fc1b 24 * @param target_component The target requested to send the message stream.
shimniok 0:826c6171fc1b 25 * @param req_stream_id The ID of the requested message type
shimniok 0:826c6171fc1b 26 * @param req_message_rate Update rate in Hertz
shimniok 0:826c6171fc1b 27 * @param start_stop 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 28 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 29 */
shimniok 0:826c6171fc1b 30 static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
shimniok 0:826c6171fc1b 31 {
shimniok 0:826c6171fc1b 32 uint16_t i = 0;
shimniok 0:826c6171fc1b 33 msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
shimniok 0:826c6171fc1b 34
shimniok 0:826c6171fc1b 35 i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
shimniok 0:826c6171fc1b 36 i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
shimniok 0:826c6171fc1b 37 i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
shimniok 0:826c6171fc1b 38 i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
shimniok 0:826c6171fc1b 39 i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 40
shimniok 0:826c6171fc1b 41 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 42 }
shimniok 0:826c6171fc1b 43
shimniok 0:826c6171fc1b 44 /**
shimniok 0:826c6171fc1b 45 * @brief Pack a request_data_stream message
shimniok 0:826c6171fc1b 46 * @param system_id ID of this system
shimniok 0:826c6171fc1b 47 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 48 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 49 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 50 * @param target_system The target requested to send the message stream.
shimniok 0:826c6171fc1b 51 * @param target_component The target requested to send the message stream.
shimniok 0:826c6171fc1b 52 * @param req_stream_id The ID of the requested message type
shimniok 0:826c6171fc1b 53 * @param req_message_rate Update rate in Hertz
shimniok 0:826c6171fc1b 54 * @param start_stop 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 55 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 56 */
shimniok 0:826c6171fc1b 57 static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
shimniok 0:826c6171fc1b 58 {
shimniok 0:826c6171fc1b 59 uint16_t i = 0;
shimniok 0:826c6171fc1b 60 msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
shimniok 0:826c6171fc1b 61
shimniok 0:826c6171fc1b 62 i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
shimniok 0:826c6171fc1b 63 i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
shimniok 0:826c6171fc1b 64 i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
shimniok 0:826c6171fc1b 65 i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
shimniok 0:826c6171fc1b 66 i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 67
shimniok 0:826c6171fc1b 68 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 69 }
shimniok 0:826c6171fc1b 70
shimniok 0:826c6171fc1b 71 /**
shimniok 0:826c6171fc1b 72 * @brief Encode a request_data_stream struct into a message
shimniok 0:826c6171fc1b 73 *
shimniok 0:826c6171fc1b 74 * @param system_id ID of this system
shimniok 0:826c6171fc1b 75 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 76 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 77 * @param request_data_stream C-struct to read the message contents from
shimniok 0:826c6171fc1b 78 */
shimniok 0:826c6171fc1b 79 static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream)
shimniok 0:826c6171fc1b 80 {
shimniok 0:826c6171fc1b 81 return mavlink_msg_request_data_stream_pack(system_id, component_id, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop);
shimniok 0:826c6171fc1b 82 }
shimniok 0:826c6171fc1b 83
shimniok 0:826c6171fc1b 84 /**
shimniok 0:826c6171fc1b 85 * @brief Send a request_data_stream message
shimniok 0:826c6171fc1b 86 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 87 *
shimniok 0:826c6171fc1b 88 * @param target_system The target requested to send the message stream.
shimniok 0:826c6171fc1b 89 * @param target_component The target requested to send the message stream.
shimniok 0:826c6171fc1b 90 * @param req_stream_id The ID of the requested message type
shimniok 0:826c6171fc1b 91 * @param req_message_rate Update rate in Hertz
shimniok 0:826c6171fc1b 92 * @param start_stop 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 93 */
shimniok 0:826c6171fc1b 94 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 95
shimniok 0:826c6171fc1b 96 static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
shimniok 0:826c6171fc1b 97 {
shimniok 0:826c6171fc1b 98 mavlink_message_t msg;
shimniok 0:826c6171fc1b 99 mavlink_msg_request_data_stream_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, req_stream_id, req_message_rate, start_stop);
shimniok 0:826c6171fc1b 100 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 101 }
shimniok 0:826c6171fc1b 102
shimniok 0:826c6171fc1b 103 #endif
shimniok 0:826c6171fc1b 104 // MESSAGE REQUEST_DATA_STREAM UNPACKING
shimniok 0:826c6171fc1b 105
shimniok 0:826c6171fc1b 106 /**
shimniok 0:826c6171fc1b 107 * @brief Get field target_system from request_data_stream message
shimniok 0:826c6171fc1b 108 *
shimniok 0:826c6171fc1b 109 * @return The target requested to send the message stream.
shimniok 0:826c6171fc1b 110 */
shimniok 0:826c6171fc1b 111 static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 112 {
shimniok 0:826c6171fc1b 113 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 114 }
shimniok 0:826c6171fc1b 115
shimniok 0:826c6171fc1b 116 /**
shimniok 0:826c6171fc1b 117 * @brief Get field target_component from request_data_stream message
shimniok 0:826c6171fc1b 118 *
shimniok 0:826c6171fc1b 119 * @return The target requested to send the message stream.
shimniok 0:826c6171fc1b 120 */
shimniok 0:826c6171fc1b 121 static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 122 {
shimniok 0:826c6171fc1b 123 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 124 }
shimniok 0:826c6171fc1b 125
shimniok 0:826c6171fc1b 126 /**
shimniok 0:826c6171fc1b 127 * @brief Get field req_stream_id from request_data_stream message
shimniok 0:826c6171fc1b 128 *
shimniok 0:826c6171fc1b 129 * @return The ID of the requested message type
shimniok 0:826c6171fc1b 130 */
shimniok 0:826c6171fc1b 131 static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 132 {
shimniok 0:826c6171fc1b 133 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 134 }
shimniok 0:826c6171fc1b 135
shimniok 0:826c6171fc1b 136 /**
shimniok 0:826c6171fc1b 137 * @brief Get field req_message_rate from request_data_stream message
shimniok 0:826c6171fc1b 138 *
shimniok 0:826c6171fc1b 139 * @return Update rate in Hertz
shimniok 0:826c6171fc1b 140 */
shimniok 0:826c6171fc1b 141 static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 142 {
shimniok 0:826c6171fc1b 143 generic_16bit r;
shimniok 0:826c6171fc1b 144 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 145 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:826c6171fc1b 146 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 147 }
shimniok 0:826c6171fc1b 148
shimniok 0:826c6171fc1b 149 /**
shimniok 0:826c6171fc1b 150 * @brief Get field start_stop from request_data_stream message
shimniok 0:826c6171fc1b 151 *
shimniok 0:826c6171fc1b 152 * @return 1 to start sending, 0 to stop sending.
shimniok 0:826c6171fc1b 153 */
shimniok 0:826c6171fc1b 154 static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 155 {
shimniok 0:826c6171fc1b 156 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 157 }
shimniok 0:826c6171fc1b 158
shimniok 0:826c6171fc1b 159 /**
shimniok 0:826c6171fc1b 160 * @brief Decode a request_data_stream message into a struct
shimniok 0:826c6171fc1b 161 *
shimniok 0:826c6171fc1b 162 * @param msg The message to decode
shimniok 0:826c6171fc1b 163 * @param request_data_stream C-struct to decode the message contents into
shimniok 0:826c6171fc1b 164 */
shimniok 0:826c6171fc1b 165 static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream)
shimniok 0:826c6171fc1b 166 {
shimniok 0:826c6171fc1b 167 request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg);
shimniok 0:826c6171fc1b 168 request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg);
shimniok 0:826c6171fc1b 169 request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg);
shimniok 0:826c6171fc1b 170 request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg);
shimniok 0:826c6171fc1b 171 request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg);
shimniok 0:826c6171fc1b 172 }