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/pixhawk/mavlink_msg_encapsulated_data.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 ENCAPSULATED_DATA PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA 171
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_encapsulated_data_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint16_t seqnr; ///< sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 8 uint8_t data[253]; ///< image data bytes
shimniok 0:826c6171fc1b 9
shimniok 0:826c6171fc1b 10 } mavlink_encapsulated_data_t;
shimniok 0:826c6171fc1b 11
shimniok 0:826c6171fc1b 12 #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15 /**
shimniok 0:826c6171fc1b 16 * @brief Pack a encapsulated_data message
shimniok 0:826c6171fc1b 17 * @param system_id ID of this system
shimniok 0:826c6171fc1b 18 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 19 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 20 *
shimniok 0:826c6171fc1b 21 * @param seqnr sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 22 * @param data image data bytes
shimniok 0:826c6171fc1b 23 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 24 */
shimniok 0:826c6171fc1b 25 static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data)
shimniok 0:826c6171fc1b 26 {
shimniok 0:826c6171fc1b 27 uint16_t i = 0;
shimniok 0:826c6171fc1b 28 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
shimniok 0:826c6171fc1b 29
shimniok 0:826c6171fc1b 30 i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 31 i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes
shimniok 0:826c6171fc1b 32
shimniok 0:826c6171fc1b 33 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 34 }
shimniok 0:826c6171fc1b 35
shimniok 0:826c6171fc1b 36 /**
shimniok 0:826c6171fc1b 37 * @brief Pack a encapsulated_data message
shimniok 0:826c6171fc1b 38 * @param system_id ID of this system
shimniok 0:826c6171fc1b 39 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 40 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 41 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 42 * @param seqnr sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 43 * @param data image data bytes
shimniok 0:826c6171fc1b 44 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 45 */
shimniok 0:826c6171fc1b 46 static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data)
shimniok 0:826c6171fc1b 47 {
shimniok 0:826c6171fc1b 48 uint16_t i = 0;
shimniok 0:826c6171fc1b 49 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
shimniok 0:826c6171fc1b 50
shimniok 0:826c6171fc1b 51 i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 52 i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes
shimniok 0:826c6171fc1b 53
shimniok 0:826c6171fc1b 54 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 55 }
shimniok 0:826c6171fc1b 56
shimniok 0:826c6171fc1b 57 /**
shimniok 0:826c6171fc1b 58 * @brief Encode a encapsulated_data struct into a message
shimniok 0:826c6171fc1b 59 *
shimniok 0:826c6171fc1b 60 * @param system_id ID of this system
shimniok 0:826c6171fc1b 61 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 62 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 63 * @param encapsulated_data C-struct to read the message contents from
shimniok 0:826c6171fc1b 64 */
shimniok 0:826c6171fc1b 65 static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
shimniok 0:826c6171fc1b 66 {
shimniok 0:826c6171fc1b 67 return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
shimniok 0:826c6171fc1b 68 }
shimniok 0:826c6171fc1b 69
shimniok 0:826c6171fc1b 70 /**
shimniok 0:826c6171fc1b 71 * @brief Send a encapsulated_data message
shimniok 0:826c6171fc1b 72 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 73 *
shimniok 0:826c6171fc1b 74 * @param seqnr sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 75 * @param data image data bytes
shimniok 0:826c6171fc1b 76 */
shimniok 0:826c6171fc1b 77 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 78
shimniok 0:826c6171fc1b 79 static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t* data)
shimniok 0:826c6171fc1b 80 {
shimniok 0:826c6171fc1b 81 mavlink_message_t msg;
shimniok 0:826c6171fc1b 82 mavlink_msg_encapsulated_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seqnr, data);
shimniok 0:826c6171fc1b 83 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 84 }
shimniok 0:826c6171fc1b 85
shimniok 0:826c6171fc1b 86 #endif
shimniok 0:826c6171fc1b 87 // MESSAGE ENCAPSULATED_DATA UNPACKING
shimniok 0:826c6171fc1b 88
shimniok 0:826c6171fc1b 89 /**
shimniok 0:826c6171fc1b 90 * @brief Get field seqnr from encapsulated_data message
shimniok 0:826c6171fc1b 91 *
shimniok 0:826c6171fc1b 92 * @return sequence number (starting with 0 on every transmission)
shimniok 0:826c6171fc1b 93 */
shimniok 0:826c6171fc1b 94 static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 95 {
shimniok 0:826c6171fc1b 96 generic_16bit r;
shimniok 0:826c6171fc1b 97 r.b[1] = (msg->payload)[0];
shimniok 0:826c6171fc1b 98 r.b[0] = (msg->payload)[1];
shimniok 0:826c6171fc1b 99 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 100 }
shimniok 0:826c6171fc1b 101
shimniok 0:826c6171fc1b 102 /**
shimniok 0:826c6171fc1b 103 * @brief Get field data from encapsulated_data message
shimniok 0:826c6171fc1b 104 *
shimniok 0:826c6171fc1b 105 * @return image data bytes
shimniok 0:826c6171fc1b 106 */
shimniok 0:826c6171fc1b 107 static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t* r_data)
shimniok 0:826c6171fc1b 108 {
shimniok 0:826c6171fc1b 109
shimniok 0:826c6171fc1b 110 memcpy(r_data, msg->payload+sizeof(uint16_t), sizeof(uint8_t)*253);
shimniok 0:826c6171fc1b 111 return sizeof(uint8_t)*253;
shimniok 0:826c6171fc1b 112 }
shimniok 0:826c6171fc1b 113
shimniok 0:826c6171fc1b 114 /**
shimniok 0:826c6171fc1b 115 * @brief Decode a encapsulated_data message into a struct
shimniok 0:826c6171fc1b 116 *
shimniok 0:826c6171fc1b 117 * @param msg The message to decode
shimniok 0:826c6171fc1b 118 * @param encapsulated_data C-struct to decode the message contents into
shimniok 0:826c6171fc1b 119 */
shimniok 0:826c6171fc1b 120 static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
shimniok 0:826c6171fc1b 121 {
shimniok 0:826c6171fc1b 122 encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
shimniok 0:826c6171fc1b 123 mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
shimniok 0:826c6171fc1b 124 }