Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/common/mavlink_msg_param_set.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_param_set.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,160 @@ +// MESSAGE PARAM_SET PACKING + +#define MAVLINK_MSG_ID_PARAM_SET 23 + +typedef struct __mavlink_param_set_t +{ + uint8_t target_system; ///< System ID + uint8_t target_component; ///< Component ID + int8_t param_id[15]; ///< Onboard parameter id + float param_value; ///< Onboard parameter value + +} mavlink_param_set_t; + +#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15 + + +/** + * @brief Pack a param_set message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param target_system System ID + * @param target_component Component ID + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_PARAM_SET; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id + i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a param_set message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param target_system System ID + * @param target_component Component ID + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_set_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, const int8_t* param_id, float param_value) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_PARAM_SET; + + i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID + i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID + i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id + i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a param_set struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param param_set C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set) +{ + return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value); +} + +/** + * @brief Send a param_set message + * @param chan MAVLink channel to send the message + * + * @param target_system System ID + * @param target_component Component ID + * @param param_id Onboard parameter id + * @param param_value Onboard parameter value + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value) +{ + mavlink_message_t msg; + mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE PARAM_SET UNPACKING + +/** + * @brief Get field target_system from param_set message + * + * @return System ID + */ +static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field target_component from param_set message + * + * @return Component ID + */ +static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Get field param_id from param_set message + * + * @return Onboard parameter id + */ +static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data) +{ + + memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15); + return 15; +} + +/** + * @brief Get field param_value from param_set message + * + * @return Onboard parameter value + */ +static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0]; + r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1]; + r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2]; + r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3]; + return (float)r.f; +} + +/** + * @brief Decode a param_set message into a struct + * + * @param msg The message to decode + * @param param_set C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set) +{ + param_set->target_system = mavlink_msg_param_set_get_target_system(msg); + param_set->target_component = mavlink_msg_param_set_get_target_component(msg); + mavlink_msg_param_set_get_param_id(msg, param_set->param_id); + param_set->param_value = mavlink_msg_param_set_get_param_value(msg); +}