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/pixhawk/mavlink_msg_raw_aux.h
- Revision:
- 0:826c6171fc1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_raw_aux.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,226 @@ +// MESSAGE RAW_AUX PACKING + +#define MAVLINK_MSG_ID_RAW_AUX 141 + +typedef struct __mavlink_raw_aux_t +{ + uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6) + uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2) + uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1) + uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3) + uint16_t vbat; ///< Battery voltage + int16_t temp; ///< Temperature (degrees celcius) + int32_t baro; ///< Barometric pressure (hecto Pascal) + +} mavlink_raw_aux_t; + + + +/** + * @brief Pack a raw_aux 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 adc1 ADC1 (J405 ADC3, LPC2148 AD0.6) + * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2) + * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1) + * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3) + * @param vbat Battery voltage + * @param temp Temperature (degrees celcius) + * @param baro Barometric pressure (hecto Pascal) + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_RAW_AUX; + + i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6) + i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2) + i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1) + i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3) + i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage + i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius) + i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal) + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a raw_aux 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 adc1 ADC1 (J405 ADC3, LPC2148 AD0.6) + * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2) + * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1) + * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3) + * @param vbat Battery voltage + * @param temp Temperature (degrees celcius) + * @param baro Barometric pressure (hecto Pascal) + * @return length of the message in bytes (excluding serial stream start sign) + */ +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) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_RAW_AUX; + + i += put_uint16_t_by_index(adc1, i, msg->payload); // ADC1 (J405 ADC3, LPC2148 AD0.6) + i += put_uint16_t_by_index(adc2, i, msg->payload); // ADC2 (J405 ADC5, LPC2148 AD0.2) + i += put_uint16_t_by_index(adc3, i, msg->payload); // ADC3 (J405 ADC6, LPC2148 AD0.1) + i += put_uint16_t_by_index(adc4, i, msg->payload); // ADC4 (J405 ADC7, LPC2148 AD1.3) + i += put_uint16_t_by_index(vbat, i, msg->payload); // Battery voltage + i += put_int16_t_by_index(temp, i, msg->payload); // Temperature (degrees celcius) + i += put_int32_t_by_index(baro, i, msg->payload); // Barometric pressure (hecto Pascal) + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a raw_aux 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 raw_aux C-struct to read the message contents from + */ +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) +{ + 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); +} + +/** + * @brief Send a raw_aux message + * @param chan MAVLink channel to send the message + * + * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6) + * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2) + * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1) + * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3) + * @param vbat Battery voltage + * @param temp Temperature (degrees celcius) + * @param baro Barometric pressure (hecto Pascal) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +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) +{ + mavlink_message_t msg; + mavlink_msg_raw_aux_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, adc1, adc2, adc3, adc4, vbat, temp, baro); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE RAW_AUX UNPACKING + +/** + * @brief Get field adc1 from raw_aux message + * + * @return ADC1 (J405 ADC3, LPC2148 AD0.6) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc1(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 adc2 from raw_aux message + * + * @return ADC2 (J405 ADC5, LPC2148 AD0.2) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc2(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 adc3 from raw_aux message + * + * @return ADC3 (J405 ADC6, LPC2148 AD0.1) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc3(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 adc4 from raw_aux message + * + * @return ADC4 (J405 ADC7, LPC2148 AD1.3) + */ +static inline uint16_t mavlink_msg_raw_aux_get_adc4(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 vbat from raw_aux message + * + * @return Battery voltage + */ +static inline uint16_t mavlink_msg_raw_aux_get_vbat(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 temp from raw_aux message + * + * @return Temperature (degrees celcius) + */ +static inline int16_t mavlink_msg_raw_aux_get_temp(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 (int16_t)r.s; +} + +/** + * @brief Get field baro from raw_aux message + * + * @return Barometric pressure (hecto Pascal) + */ +static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[0]; + r.b[2] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[1]; + r.b[1] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[2]; + r.b[0] = (msg->payload+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(int16_t))[3]; + return (int32_t)r.i; +} + +/** + * @brief Decode a raw_aux message into a struct + * + * @param msg The message to decode + * @param raw_aux C-struct to decode the message contents into + */ +static inline void mavlink_msg_raw_aux_decode(const mavlink_message_t* msg, mavlink_raw_aux_t* raw_aux) +{ + raw_aux->adc1 = mavlink_msg_raw_aux_get_adc1(msg); + raw_aux->adc2 = mavlink_msg_raw_aux_get_adc2(msg); + raw_aux->adc3 = mavlink_msg_raw_aux_get_adc3(msg); + raw_aux->adc4 = mavlink_msg_raw_aux_get_adc4(msg); + raw_aux->vbat = mavlink_msg_raw_aux_get_vbat(msg); + raw_aux->temp = mavlink_msg_raw_aux_get_temp(msg); + raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg); +}