Diff: MAVlink/include/pixhawk/mavlink_msg_set_cam_shutter.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/pixhawk/mavlink_msg_set_cam_shutter.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,197 @@
+// MESSAGE SET_CAM_SHUTTER PACKING
+
+#define MAVLINK_MSG_ID_SET_CAM_SHUTTER 190
+
+typedef struct __mavlink_set_cam_shutter_t 
+{
+	uint8_t cam_no; ///< Camera id
+	uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual
+	uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly
+	uint16_t interval; ///< Shutter interval, in microseconds
+	uint16_t exposure; ///< Exposure time, in microseconds
+	float gain; ///< Camera gain
+
+} mavlink_set_cam_shutter_t;
+
+
+
+/**
+ * @brief Pack a set_cam_shutter 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 cam_no Camera id
+ * @param cam_mode Camera mode: 0 = auto, 1 = manual
+ * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
+ * @param interval Shutter interval, in microseconds
+ * @param exposure Exposure time, in microseconds
+ * @param gain Camera gain
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+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)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
+
+	i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id
+	i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual
+	i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly
+	i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds
+	i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds
+	i += put_float_by_index(gain, i, msg->payload); // Camera gain
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a set_cam_shutter 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 cam_no Camera id
+ * @param cam_mode Camera mode: 0 = auto, 1 = manual
+ * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
+ * @param interval Shutter interval, in microseconds
+ * @param exposure Exposure time, in microseconds
+ * @param gain Camera gain
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+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)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
+
+	i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera id
+	i += put_uint8_t_by_index(cam_mode, i, msg->payload); // Camera mode: 0 = auto, 1 = manual
+	i += put_uint8_t_by_index(trigger_pin, i, msg->payload); // Trigger pin, 0-3 for PtGrey FireFly
+	i += put_uint16_t_by_index(interval, i, msg->payload); // Shutter interval, in microseconds
+	i += put_uint16_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds
+	i += put_float_by_index(gain, i, msg->payload); // Camera gain
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a set_cam_shutter 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 set_cam_shutter C-struct to read the message contents from
+ */
+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)
+{
+	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);
+}
+
+/**
+ * @brief Send a set_cam_shutter message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param cam_no Camera id
+ * @param cam_mode Camera mode: 0 = auto, 1 = manual
+ * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
+ * @param interval Shutter interval, in microseconds
+ * @param exposure Exposure time, in microseconds
+ * @param gain Camera gain
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+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)
+{
+	mavlink_message_t msg;
+	mavlink_msg_set_cam_shutter_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_no, cam_mode, trigger_pin, interval, exposure, gain);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE SET_CAM_SHUTTER UNPACKING
+
+/**
+ * @brief Get field cam_no from set_cam_shutter message
+ *
+ * @return Camera id
+ */
+static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field cam_mode from set_cam_shutter message
+ *
+ * @return Camera mode: 0 = auto, 1 = manual
+ */
+static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field trigger_pin from set_cam_shutter message
+ *
+ * @return Trigger pin, 0-3 for PtGrey FireFly
+ */
+static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field interval from set_cam_shutter message
+ *
+ * @return Shutter interval, in microseconds
+ */
+static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field exposure from set_cam_shutter message
+ *
+ * @return Exposure time, in microseconds
+ */
+static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[1];
+	return (uint16_t)r.s;
+}
+
+/**
+ * @brief Get field gain from set_cam_shutter message
+ *
+ * @return Camera gain
+ */
+static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a set_cam_shutter message into a struct
+ *
+ * @param msg The message to decode
+ * @param set_cam_shutter C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter)
+{
+	set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg);
+	set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg);
+	set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg);
+	set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg);
+	set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg);
+	set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg);
+}