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_set_cam_shutter.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 SET_CAM_SHUTTER PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_SET_CAM_SHUTTER 190
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_set_cam_shutter_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint8_t cam_no; ///< Camera id
shimniok 0:826c6171fc1b 8 uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 9 uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 10 uint16_t interval; ///< Shutter interval, in microseconds
shimniok 0:826c6171fc1b 11 uint16_t exposure; ///< Exposure time, in microseconds
shimniok 0:826c6171fc1b 12 float gain; ///< Camera gain
shimniok 0:826c6171fc1b 13
shimniok 0:826c6171fc1b 14 } mavlink_set_cam_shutter_t;
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16
shimniok 0:826c6171fc1b 17
shimniok 0:826c6171fc1b 18 /**
shimniok 0:826c6171fc1b 19 * @brief Pack a set_cam_shutter message
shimniok 0:826c6171fc1b 20 * @param system_id ID of this system
shimniok 0:826c6171fc1b 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 22 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 23 *
shimniok 0:826c6171fc1b 24 * @param cam_no Camera id
shimniok 0:826c6171fc1b 25 * @param cam_mode Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 26 * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 27 * @param interval Shutter interval, in microseconds
shimniok 0:826c6171fc1b 28 * @param exposure Exposure time, in microseconds
shimniok 0:826c6171fc1b 29 * @param gain Camera gain
shimniok 0:826c6171fc1b 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 31 */
shimniok 0:826c6171fc1b 32 static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
shimniok 0:826c6171fc1b 33 {
shimniok 0:826c6171fc1b 34 uint16_t i = 0;
shimniok 0:826c6171fc1b 35 msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
shimniok 0:826c6171fc1b 36
shimniok 0:826c6171fc1b 37 i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id
shimniok 0:826c6171fc1b 38 i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 39 i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 40 i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds
shimniok 0:826c6171fc1b 41 i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds
shimniok 0:826c6171fc1b 42 i += put_float_by_index(gain, i, msg->payload); // Camera gain
shimniok 0:826c6171fc1b 43
shimniok 0:826c6171fc1b 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 45 }
shimniok 0:826c6171fc1b 46
shimniok 0:826c6171fc1b 47 /**
shimniok 0:826c6171fc1b 48 * @brief Pack a set_cam_shutter message
shimniok 0:826c6171fc1b 49 * @param system_id ID of this system
shimniok 0:826c6171fc1b 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 52 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 53 * @param cam_no Camera id
shimniok 0:826c6171fc1b 54 * @param cam_mode Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 55 * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 56 * @param interval Shutter interval, in microseconds
shimniok 0:826c6171fc1b 57 * @param exposure Exposure time, in microseconds
shimniok 0:826c6171fc1b 58 * @param gain Camera gain
shimniok 0:826c6171fc1b 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 60 */
shimniok 0:826c6171fc1b 61 static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
shimniok 0:826c6171fc1b 62 {
shimniok 0:826c6171fc1b 63 uint16_t i = 0;
shimniok 0:826c6171fc1b 64 msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
shimniok 0:826c6171fc1b 65
shimniok 0:826c6171fc1b 66 i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id
shimniok 0:826c6171fc1b 67 i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 68 i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 69 i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds
shimniok 0:826c6171fc1b 70 i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds
shimniok 0:826c6171fc1b 71 i += put_float_by_index(gain, i, msg->payload); // Camera gain
shimniok 0:826c6171fc1b 72
shimniok 0:826c6171fc1b 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 74 }
shimniok 0:826c6171fc1b 75
shimniok 0:826c6171fc1b 76 /**
shimniok 0:826c6171fc1b 77 * @brief Encode a set_cam_shutter struct into a message
shimniok 0:826c6171fc1b 78 *
shimniok 0:826c6171fc1b 79 * @param system_id ID of this system
shimniok 0:826c6171fc1b 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 81 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 82 * @param set_cam_shutter C-struct to read the message contents from
shimniok 0:826c6171fc1b 83 */
shimniok 0:826c6171fc1b 84 static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter)
shimniok 0:826c6171fc1b 85 {
shimniok 0:826c6171fc1b 86 return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain);
shimniok 0:826c6171fc1b 87 }
shimniok 0:826c6171fc1b 88
shimniok 0:826c6171fc1b 89 /**
shimniok 0:826c6171fc1b 90 * @brief Send a set_cam_shutter message
shimniok 0:826c6171fc1b 91 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 92 *
shimniok 0:826c6171fc1b 93 * @param cam_no Camera id
shimniok 0:826c6171fc1b 94 * @param cam_mode Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 95 * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 96 * @param interval Shutter interval, in microseconds
shimniok 0:826c6171fc1b 97 * @param exposure Exposure time, in microseconds
shimniok 0:826c6171fc1b 98 * @param gain Camera gain
shimniok 0:826c6171fc1b 99 */
shimniok 0:826c6171fc1b 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 101
shimniok 0:826c6171fc1b 102 static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
shimniok 0:826c6171fc1b 103 {
shimniok 0:826c6171fc1b 104 mavlink_message_t msg;
shimniok 0:826c6171fc1b 105 mavlink_msg_set_cam_shutter_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain);
shimniok 0:826c6171fc1b 106 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 107 }
shimniok 0:826c6171fc1b 108
shimniok 0:826c6171fc1b 109 #endif
shimniok 0:826c6171fc1b 110 // MESSAGE SET_CAM_SHUTTER UNPACKING
shimniok 0:826c6171fc1b 111
shimniok 0:826c6171fc1b 112 /**
shimniok 0:826c6171fc1b 113 * @brief Get field cam_no from set_cam_shutter message
shimniok 0:826c6171fc1b 114 *
shimniok 0:826c6171fc1b 115 * @return Camera id
shimniok 0:826c6171fc1b 116 */
shimniok 0:826c6171fc1b 117 static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 118 {
shimniok 0:826c6171fc1b 119 return (uint8_t)(msg->payload)[0];
shimniok 0:826c6171fc1b 120 }
shimniok 0:826c6171fc1b 121
shimniok 0:826c6171fc1b 122 /**
shimniok 0:826c6171fc1b 123 * @brief Get field cam_mode from set_cam_shutter message
shimniok 0:826c6171fc1b 124 *
shimniok 0:826c6171fc1b 125 * @return Camera mode: 0 = auto, 1 = manual
shimniok 0:826c6171fc1b 126 */
shimniok 0:826c6171fc1b 127 static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 128 {
shimniok 0:826c6171fc1b 129 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 130 }
shimniok 0:826c6171fc1b 131
shimniok 0:826c6171fc1b 132 /**
shimniok 0:826c6171fc1b 133 * @brief Get field trigger_pin from set_cam_shutter message
shimniok 0:826c6171fc1b 134 *
shimniok 0:826c6171fc1b 135 * @return Trigger pin, 0-3 for PtGrey FireFly
shimniok 0:826c6171fc1b 136 */
shimniok 0:826c6171fc1b 137 static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 138 {
shimniok 0:826c6171fc1b 139 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 140 }
shimniok 0:826c6171fc1b 141
shimniok 0:826c6171fc1b 142 /**
shimniok 0:826c6171fc1b 143 * @brief Get field interval from set_cam_shutter message
shimniok 0:826c6171fc1b 144 *
shimniok 0:826c6171fc1b 145 * @return Shutter interval, in microseconds
shimniok 0:826c6171fc1b 146 */
shimniok 0:826c6171fc1b 147 static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 148 {
shimniok 0:826c6171fc1b 149 generic_16bit r;
shimniok 0:826c6171fc1b 150 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:826c6171fc1b 151 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:826c6171fc1b 152 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 153 }
shimniok 0:826c6171fc1b 154
shimniok 0:826c6171fc1b 155 /**
shimniok 0:826c6171fc1b 156 * @brief Get field exposure from set_cam_shutter message
shimniok 0:826c6171fc1b 157 *
shimniok 0:826c6171fc1b 158 * @return Exposure time, in microseconds
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 generic_16bit r;
shimniok 0:826c6171fc1b 163 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 164 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 165 return (uint16_t)r.s;
shimniok 0:826c6171fc1b 166 }
shimniok 0:826c6171fc1b 167
shimniok 0:826c6171fc1b 168 /**
shimniok 0:826c6171fc1b 169 * @brief Get field gain from set_cam_shutter message
shimniok 0:826c6171fc1b 170 *
shimniok 0:826c6171fc1b 171 * @return Camera gain
shimniok 0:826c6171fc1b 172 */
shimniok 0:826c6171fc1b 173 static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 174 {
shimniok 0:826c6171fc1b 175 generic_32bit r;
shimniok 0:826c6171fc1b 176 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
shimniok 0:826c6171fc1b 177 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
shimniok 0:826c6171fc1b 178 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[2];
shimniok 0:826c6171fc1b 179 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[3];
shimniok 0:826c6171fc1b 180 return (float)r.f;
shimniok 0:826c6171fc1b 181 }
shimniok 0:826c6171fc1b 182
shimniok 0:826c6171fc1b 183 /**
shimniok 0:826c6171fc1b 184 * @brief Decode a set_cam_shutter message into a struct
shimniok 0:826c6171fc1b 185 *
shimniok 0:826c6171fc1b 186 * @param msg The message to decode
shimniok 0:826c6171fc1b 187 * @param set_cam_shutter C-struct to decode the message contents into
shimniok 0:826c6171fc1b 188 */
shimniok 0:826c6171fc1b 189 static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter)
shimniok 0:826c6171fc1b 190 {
shimniok 0:826c6171fc1b 191 set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg);
shimniok 0:826c6171fc1b 192 set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg);
shimniok 0:826c6171fc1b 193 set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg);
shimniok 0:826c6171fc1b 194 set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg);
shimniok 0:826c6171fc1b 195 set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg);
shimniok 0:826c6171fc1b 196 set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg);
shimniok 0:826c6171fc1b 197 }