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_raw_aux.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 RAW_AUX PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_RAW_AUX 141
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_raw_aux_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 8 uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 9 uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 10 uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 11 uint16_t vbat; ///< Battery voltage
shimniok 0:826c6171fc1b 12 int16_t temp; ///< Temperature (degrees celcius)
shimniok 0:826c6171fc1b 13 int32_t baro; ///< Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 14
shimniok 0:826c6171fc1b 15 } mavlink_raw_aux_t;
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17
shimniok 0:826c6171fc1b 18
shimniok 0:826c6171fc1b 19 /**
shimniok 0:826c6171fc1b 20 * @brief Pack a raw_aux message
shimniok 0:826c6171fc1b 21 * @param system_id ID of this system
shimniok 0:826c6171fc1b 22 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 23 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 24 *
shimniok 0:826c6171fc1b 25 * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 26 * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 27 * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 28 * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 29 * @param vbat Battery voltage
shimniok 0:826c6171fc1b 30 * @param temp Temperature (degrees celcius)
shimniok 0:826c6171fc1b 31 * @param baro Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 32 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 33 */
shimniok 0:826c6171fc1b 34 static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
shimniok 0:826c6171fc1b 35 {
shimniok 0:826c6171fc1b 36 uint16_t i = 0;
shimniok 0:826c6171fc1b 37 msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
shimniok 0:826c6171fc1b 38
shimniok 0:826c6171fc1b 39 i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 40 i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 41 i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 42 i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 43 i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage
shimniok 0:826c6171fc1b 44 i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius)
shimniok 0:826c6171fc1b 45 i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 46
shimniok 0:826c6171fc1b 47 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 48 }
shimniok 0:826c6171fc1b 49
shimniok 0:826c6171fc1b 50 /**
shimniok 0:826c6171fc1b 51 * @brief Pack a raw_aux message
shimniok 0:826c6171fc1b 52 * @param system_id ID of this system
shimniok 0:826c6171fc1b 53 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 54 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 55 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 56 * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 57 * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 58 * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 59 * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 60 * @param vbat Battery voltage
shimniok 0:826c6171fc1b 61 * @param temp Temperature (degrees celcius)
shimniok 0:826c6171fc1b 62 * @param baro Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 63 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 64 */
shimniok 0:826c6171fc1b 65 static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
shimniok 0:826c6171fc1b 66 {
shimniok 0:826c6171fc1b 67 uint16_t i = 0;
shimniok 0:826c6171fc1b 68 msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
shimniok 0:826c6171fc1b 69
shimniok 0:826c6171fc1b 70 i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 71 i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 72 i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 73 i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 74 i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage
shimniok 0:826c6171fc1b 75 i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius)
shimniok 0:826c6171fc1b 76 i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 77
shimniok 0:826c6171fc1b 78 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 79 }
shimniok 0:826c6171fc1b 80
shimniok 0:826c6171fc1b 81 /**
shimniok 0:826c6171fc1b 82 * @brief Encode a raw_aux struct into a message
shimniok 0:826c6171fc1b 83 *
shimniok 0:826c6171fc1b 84 * @param system_id ID of this system
shimniok 0:826c6171fc1b 85 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 86 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 87 * @param raw_aux C-struct to read the message contents from
shimniok 0:826c6171fc1b 88 */
shimniok 0:826c6171fc1b 89 static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_aux_t* raw_aux)
shimniok 0:826c6171fc1b 90 {
shimniok 0:826c6171fc1b 91 return mavlink_msg_raw_aux_pack(system_id, component_id, msg, raw_aux->adc1, raw_aux->adc2, raw_aux->adc3, raw_aux->adc4, raw_aux->vbat, raw_aux->temp, raw_aux->baro);
shimniok 0:826c6171fc1b 92 }
shimniok 0:826c6171fc1b 93
shimniok 0:826c6171fc1b 94 /**
shimniok 0:826c6171fc1b 95 * @brief Send a raw_aux message
shimniok 0:826c6171fc1b 96 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 97 *
shimniok 0:826c6171fc1b 98 * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 99 * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 100 * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 101 * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 102 * @param vbat Battery voltage
shimniok 0:826c6171fc1b 103 * @param temp Temperature (degrees celcius)
shimniok 0:826c6171fc1b 104 * @param baro Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 105 */
shimniok 0:826c6171fc1b 106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 107
shimniok 0:826c6171fc1b 108 static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
shimniok 0:826c6171fc1b 109 {
shimniok 0:826c6171fc1b 110 mavlink_message_t msg;
shimniok 0:826c6171fc1b 111 mavlink_msg_raw_aux_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, adc1, adc2, adc3, adc4, vbat, temp, baro);
shimniok 0:826c6171fc1b 112 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 113 }
shimniok 0:826c6171fc1b 114
shimniok 0:826c6171fc1b 115 #endif
shimniok 0:826c6171fc1b 116 // MESSAGE RAW_AUX UNPACKING
shimniok 0:826c6171fc1b 117
shimniok 0:826c6171fc1b 118 /**
shimniok 0:826c6171fc1b 119 * @brief Get field adc1 from raw_aux message
shimniok 0:826c6171fc1b 120 *
shimniok 0:826c6171fc1b 121 * @return ADC1 (J405 ADC3, LPC2148 AD0.6)
shimniok 0:826c6171fc1b 122 */
shimniok 0:826c6171fc1b 123 static inline uint16_t mavlink_msg_raw_aux_get_adc1(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 124 {
shimniok 0:826c6171fc1b 125 generic_16bit r;
shimniok 0:826c6171fc1b 126 r.b[1] = (msg->payload)[0];
shimniok 0:826c6171fc1b 127 r.b[0] = (msg->payload)[1];
shimniok 0:826c6171fc1b 128 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 129 }
shimniok 0:826c6171fc1b 130
shimniok 0:826c6171fc1b 131 /**
shimniok 0:826c6171fc1b 132 * @brief Get field adc2 from raw_aux message
shimniok 0:826c6171fc1b 133 *
shimniok 0:826c6171fc1b 134 * @return ADC2 (J405 ADC5, LPC2148 AD0.2)
shimniok 0:826c6171fc1b 135 */
shimniok 0:826c6171fc1b 136 static inline uint16_t mavlink_msg_raw_aux_get_adc2(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 137 {
shimniok 0:826c6171fc1b 138 generic_16bit r;
shimniok 0:826c6171fc1b 139 r.b[1] = (msg->payload+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 140 r.b[0] = (msg->payload+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 141 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 142 }
shimniok 0:826c6171fc1b 143
shimniok 0:826c6171fc1b 144 /**
shimniok 0:826c6171fc1b 145 * @brief Get field adc3 from raw_aux message
shimniok 0:826c6171fc1b 146 *
shimniok 0:826c6171fc1b 147 * @return ADC3 (J405 ADC6, LPC2148 AD0.1)
shimniok 0:826c6171fc1b 148 */
shimniok 0:826c6171fc1b 149 static inline uint16_t mavlink_msg_raw_aux_get_adc3(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 150 {
shimniok 0:826c6171fc1b 151 generic_16bit r;
shimniok 0:826c6171fc1b 152 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 153 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 154 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 155 }
shimniok 0:826c6171fc1b 156
shimniok 0:826c6171fc1b 157 /**
shimniok 0:826c6171fc1b 158 * @brief Get field adc4 from raw_aux message
shimniok 0:826c6171fc1b 159 *
shimniok 0:826c6171fc1b 160 * @return ADC4 (J405 ADC7, LPC2148 AD1.3)
shimniok 0:826c6171fc1b 161 */
shimniok 0:826c6171fc1b 162 static inline uint16_t mavlink_msg_raw_aux_get_adc4(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 163 {
shimniok 0:826c6171fc1b 164 generic_16bit r;
shimniok 0:826c6171fc1b 165 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 166 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 167 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 168 }
shimniok 0:826c6171fc1b 169
shimniok 0:826c6171fc1b 170 /**
shimniok 0:826c6171fc1b 171 * @brief Get field vbat from raw_aux message
shimniok 0:826c6171fc1b 172 *
shimniok 0:826c6171fc1b 173 * @return Battery voltage
shimniok 0:826c6171fc1b 174 */
shimniok 0:826c6171fc1b 175 static inline uint16_t mavlink_msg_raw_aux_get_vbat(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 176 {
shimniok 0:826c6171fc1b 177 generic_16bit r;
shimniok 0:826c6171fc1b 178 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 179 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 180 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 181 }
shimniok 0:826c6171fc1b 182
shimniok 0:826c6171fc1b 183 /**
shimniok 0:826c6171fc1b 184 * @brief Get field temp from raw_aux message
shimniok 0:826c6171fc1b 185 *
shimniok 0:826c6171fc1b 186 * @return Temperature (degrees celcius)
shimniok 0:826c6171fc1b 187 */
shimniok 0:826c6171fc1b 188 static inline int16_t mavlink_msg_raw_aux_get_temp(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 189 {
shimniok 0:826c6171fc1b 190 generic_16bit r;
shimniok 0:826c6171fc1b 191 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 192 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 193 return (int16_t)r.s;
shimniok 0:826c6171fc1b 194 }
shimniok 0:826c6171fc1b 195
shimniok 0:826c6171fc1b 196 /**
shimniok 0:826c6171fc1b 197 * @brief Get field baro from raw_aux message
shimniok 0:826c6171fc1b 198 *
shimniok 0:826c6171fc1b 199 * @return Barometric pressure (hecto Pascal)
shimniok 0:826c6171fc1b 200 */
shimniok 0:826c6171fc1b 201 static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 202 {
shimniok 0:826c6171fc1b 203 generic_32bit r;
shimniok 0:826c6171fc1b 204 r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 205 r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 206 r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[2];
shimniok 0:826c6171fc1b 207 r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[3];
shimniok 0:826c6171fc1b 208 return (int32_t)r.i;
shimniok 0:826c6171fc1b 209 }
shimniok 0:826c6171fc1b 210
shimniok 0:826c6171fc1b 211 /**
shimniok 0:826c6171fc1b 212 * @brief Decode a raw_aux message into a struct
shimniok 0:826c6171fc1b 213 *
shimniok 0:826c6171fc1b 214 * @param msg The message to decode
shimniok 0:826c6171fc1b 215 * @param raw_aux C-struct to decode the message contents into
shimniok 0:826c6171fc1b 216 */
shimniok 0:826c6171fc1b 217 static inline void mavlink_msg_raw_aux_decode(const mavlink_message_t* msg, mavlink_raw_aux_t* raw_aux)
shimniok 0:826c6171fc1b 218 {
shimniok 0:826c6171fc1b 219 raw_aux->adc1 = mavlink_msg_raw_aux_get_adc1(msg);
shimniok 0:826c6171fc1b 220 raw_aux->adc2 = mavlink_msg_raw_aux_get_adc2(msg);
shimniok 0:826c6171fc1b 221 raw_aux->adc3 = mavlink_msg_raw_aux_get_adc3(msg);
shimniok 0:826c6171fc1b 222 raw_aux->adc4 = mavlink_msg_raw_aux_get_adc4(msg);
shimniok 0:826c6171fc1b 223 raw_aux->vbat = mavlink_msg_raw_aux_get_vbat(msg);
shimniok 0:826c6171fc1b 224 raw_aux->temp = mavlink_msg_raw_aux_get_temp(msg);
shimniok 0:826c6171fc1b 225 raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg);
shimniok 0:826c6171fc1b 226 }