Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_encapsulated_data.h
00001 // MESSAGE ENCAPSULATED_DATA PACKING 00002 00003 #define MAVLINK_MSG_ID_ENCAPSULATED_DATA 171 00004 00005 typedef struct __mavlink_encapsulated_data_t 00006 { 00007 uint16_t seqnr; ///< sequence number (starting with 0 on every transmission) 00008 uint8_t data[253]; ///< image data bytes 00009 00010 } mavlink_encapsulated_data_t; 00011 00012 #define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253 00013 00014 00015 /** 00016 * @brief Pack a encapsulated_data message 00017 * @param system_id ID of this system 00018 * @param component_id ID of this component (e.g. 200 for IMU) 00019 * @param msg The MAVLink message to compress the data into 00020 * 00021 * @param seqnr sequence number (starting with 0 on every transmission) 00022 * @param data image data bytes 00023 * @return length of the message in bytes (excluding serial stream start sign) 00024 */ 00025 static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data) 00026 { 00027 uint16_t i = 0; 00028 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; 00029 00030 i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission) 00031 i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes 00032 00033 return mavlink_finalize_message(msg, system_id, component_id, i); 00034 } 00035 00036 /** 00037 * @brief Pack a encapsulated_data message 00038 * @param system_id ID of this system 00039 * @param component_id ID of this component (e.g. 200 for IMU) 00040 * @param chan The MAVLink channel this message was sent over 00041 * @param msg The MAVLink message to compress the data into 00042 * @param seqnr sequence number (starting with 0 on every transmission) 00043 * @param data image data bytes 00044 * @return length of the message in bytes (excluding serial stream start sign) 00045 */ 00046 static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint16_t seqnr, const uint8_t* data) 00047 { 00048 uint16_t i = 0; 00049 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA; 00050 00051 i += put_uint16_t_by_index(seqnr, i, msg->payload); // sequence number (starting with 0 on every transmission) 00052 i += put_array_by_index((const int8_t*)data, sizeof(uint8_t)*253, i, msg->payload); // image data bytes 00053 00054 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00055 } 00056 00057 /** 00058 * @brief Encode a encapsulated_data struct into a message 00059 * 00060 * @param system_id ID of this system 00061 * @param component_id ID of this component (e.g. 200 for IMU) 00062 * @param msg The MAVLink message to compress the data into 00063 * @param encapsulated_data C-struct to read the message contents from 00064 */ 00065 static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data) 00066 { 00067 return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data); 00068 } 00069 00070 /** 00071 * @brief Send a encapsulated_data message 00072 * @param chan MAVLink channel to send the message 00073 * 00074 * @param seqnr sequence number (starting with 0 on every transmission) 00075 * @param data image data bytes 00076 */ 00077 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00078 00079 static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t* data) 00080 { 00081 mavlink_message_t msg; 00082 mavlink_msg_encapsulated_data_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, seqnr, data); 00083 mavlink_send_uart(chan, &msg); 00084 } 00085 00086 #endif 00087 // MESSAGE ENCAPSULATED_DATA UNPACKING 00088 00089 /** 00090 * @brief Get field seqnr from encapsulated_data message 00091 * 00092 * @return sequence number (starting with 0 on every transmission) 00093 */ 00094 static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg) 00095 { 00096 generic_16bit r; 00097 r.b[1] = (msg->payload)[0]; 00098 r.b[0] = (msg->payload)[1]; 00099 return (uint16_t)r.s; 00100 } 00101 00102 /** 00103 * @brief Get field data from encapsulated_data message 00104 * 00105 * @return image data bytes 00106 */ 00107 static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t* r_data) 00108 { 00109 00110 memcpy(r_data, msg->payload+sizeof(uint16_t), sizeof(uint8_t)*253); 00111 return sizeof(uint8_t)*253; 00112 } 00113 00114 /** 00115 * @brief Decode a encapsulated_data message into a struct 00116 * 00117 * @param msg The message to decode 00118 * @param encapsulated_data C-struct to decode the message contents into 00119 */ 00120 static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data) 00121 { 00122 encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg); 00123 mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data); 00124 }
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