Diff: MAVlink/include/pixhawk/mavlink_msg_aux_status.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/pixhawk/mavlink_msg_aux_status.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,204 @@
+// MESSAGE AUX_STATUS PACKING
+
+#define MAVLINK_MSG_ID_AUX_STATUS 142
+
+typedef struct __mavlink_aux_status_t 
+{
+	uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+	uint16_t i2c0_err_count; ///< Number of I2C errors since startup
+	uint16_t i2c1_err_count; ///< Number of I2C errors since startup
+	uint16_t spi0_err_count; ///< Number of I2C errors since startup
+	uint16_t spi1_err_count; ///< Number of I2C errors since startup
+	uint16_t uart_total_err_count; ///< Number of I2C errors since startup
+
+} mavlink_aux_status_t;
+
+
+
+/**
+ * @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param i2c0_err_count Number of I2C errors since startup
+ * @param i2c1_err_count Number of I2C errors since startup
+ * @param spi0_err_count Number of I2C errors since startup
+ * @param spi1_err_count Number of I2C errors since startup
+ * @param uart_total_err_count Number of I2C errors since startup
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_aux_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
+
+	i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+	i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a aux_status 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 load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param i2c0_err_count Number of I2C errors since startup
+ * @param i2c1_err_count Number of I2C errors since startup
+ * @param spi0_err_count Number of I2C errors since startup
+ * @param spi1_err_count Number of I2C errors since startup
+ * @param uart_total_err_count Number of I2C errors since startup
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_aux_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_AUX_STATUS;
+
+	i += put_uint16_t_by_index(load, i, msg->payload); // Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+	i += put_uint16_t_by_index(i2c0_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(i2c1_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(spi0_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(spi1_err_count, i, msg->payload); // Number of I2C errors since startup
+	i += put_uint16_t_by_index(uart_total_err_count, i, msg->payload); // Number of I2C errors since startup
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a aux_status 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 aux_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_aux_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aux_status_t* aux_status)
+{
+	return mavlink_msg_aux_status_pack(system_id, component_id, msg, aux_status->load, aux_status->i2c0_err_count, aux_status->i2c1_err_count, aux_status->spi0_err_count, aux_status->spi1_err_count, aux_status->uart_total_err_count);
+}
+
+/**
+ * @brief Send a aux_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ * @param i2c0_err_count Number of I2C errors since startup
+ * @param i2c1_err_count Number of I2C errors since startup
+ * @param spi0_err_count Number of I2C errors since startup
+ * @param spi1_err_count Number of I2C errors since startup
+ * @param uart_total_err_count Number of I2C errors since startup
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_aux_status_send(mavlink_channel_t chan, uint16_t load, uint16_t i2c0_err_count, uint16_t i2c1_err_count, uint16_t spi0_err_count, uint16_t spi1_err_count, uint16_t uart_total_err_count)
+{
+	mavlink_message_t msg;
+	mavlink_msg_aux_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, load, i2c0_err_count, i2c1_err_count, spi0_err_count, spi1_err_count, uart_total_err_count);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE AUX_STATUS UNPACKING
+
+/**
+ * @brief Get field load from aux_status message
+ *
+ * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ */
+static inline uint16_t mavlink_msg_aux_status_get_load(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload)[0];
+	r.b[0] = (msg->payload)[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field i2c0_err_count from aux_status message
+ *
+ * @return Number of I2C errors since startup
+ */
+static inline uint16_t mavlink_msg_aux_status_get_i2c0_err_count(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint16_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field i2c1_err_count from aux_status message
+ *
+ * @return Number of I2C errors since startup
+ */
+static inline uint16_t mavlink_msg_aux_status_get_i2c1_err_count(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field spi0_err_count from aux_status message
+ *
+ * @return Number of I2C errors since startup
+ */
+static inline uint16_t mavlink_msg_aux_status_get_spi0_err_count(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field spi1_err_count from aux_status message
+ *
+ * @return Number of I2C errors since startup
+ */
+static inline uint16_t mavlink_msg_aux_status_get_spi1_err_count(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field uart_total_err_count from aux_status message
+ *
+ * @return Number of I2C errors since startup
+ */
+static inline uint16_t mavlink_msg_aux_status_get_uart_total_err_count(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Decode a aux_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param aux_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_aux_status_decode(const mavlink_message_t* msg, mavlink_aux_status_t* aux_status)
+{
+	aux_status->load = mavlink_msg_aux_status_get_load(msg);
+	aux_status->i2c0_err_count = mavlink_msg_aux_status_get_i2c0_err_count(msg);
+	aux_status->i2c1_err_count = mavlink_msg_aux_status_get_i2c1_err_count(msg);
+	aux_status->spi0_err_count = mavlink_msg_aux_status_get_spi0_err_count(msg);
+	aux_status->spi1_err_count = mavlink_msg_aux_status_get_spi1_err_count(msg);
+	aux_status->uart_total_err_count = mavlink_msg_aux_status_get_uart_total_err_count(msg);
+}