mirror of https://github.com/OpenIPC/firmware.git
331 lines
13 KiB
C
331 lines
13 KiB
C
#pragma once
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// MESSAGE CAN_FRAME PACKING
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#define MAVLINK_MSG_ID_CAN_FRAME 386
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typedef struct __mavlink_can_frame_t {
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uint32_t id; /*< Frame ID*/
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uint8_t target_system; /*< System ID.*/
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uint8_t target_component; /*< Component ID.*/
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uint8_t bus; /*< Bus number*/
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uint8_t len; /*< Frame length*/
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uint8_t data[8]; /*< Frame data*/
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} mavlink_can_frame_t;
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#define MAVLINK_MSG_ID_CAN_FRAME_LEN 16
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#define MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN 16
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#define MAVLINK_MSG_ID_386_LEN 16
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#define MAVLINK_MSG_ID_386_MIN_LEN 16
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#define MAVLINK_MSG_ID_CAN_FRAME_CRC 132
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#define MAVLINK_MSG_ID_386_CRC 132
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#define MAVLINK_MSG_CAN_FRAME_FIELD_DATA_LEN 8
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CAN_FRAME { \
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386, \
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"CAN_FRAME", \
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6, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_can_frame_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_can_frame_t, target_component) }, \
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{ "bus", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_can_frame_t, bus) }, \
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{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_can_frame_t, len) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_can_frame_t, id) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 8, 8, offsetof(mavlink_can_frame_t, data) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CAN_FRAME { \
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"CAN_FRAME", \
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6, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_can_frame_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_can_frame_t, target_component) }, \
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{ "bus", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_can_frame_t, bus) }, \
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{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_can_frame_t, len) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_can_frame_t, id) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 8, 8, offsetof(mavlink_can_frame_t, data) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a can_frame message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param bus Bus number
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* @param len Frame length
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* @param id Frame ID
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* @param data Frame data
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_can_frame_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, uint8_t bus, uint8_t len, uint32_t id, const uint8_t *data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_CAN_FRAME_LEN];
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_uint8_t(buf, 4, target_system);
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_mav_put_uint8_t(buf, 5, target_component);
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_mav_put_uint8_t(buf, 6, bus);
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_mav_put_uint8_t(buf, 7, len);
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_mav_put_uint8_t_array(buf, 8, data, 8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAN_FRAME_LEN);
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#else
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mavlink_can_frame_t packet;
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packet.id = id;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.bus = bus;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAN_FRAME_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAN_FRAME;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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}
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/**
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* @brief Pack a can_frame message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param bus Bus number
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* @param len Frame length
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* @param id Frame ID
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* @param data Frame data
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_can_frame_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t target_system,uint8_t target_component,uint8_t bus,uint8_t len,uint32_t id,const uint8_t *data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_CAN_FRAME_LEN];
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_uint8_t(buf, 4, target_system);
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_mav_put_uint8_t(buf, 5, target_component);
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_mav_put_uint8_t(buf, 6, bus);
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_mav_put_uint8_t(buf, 7, len);
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_mav_put_uint8_t_array(buf, 8, data, 8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAN_FRAME_LEN);
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#else
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mavlink_can_frame_t packet;
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packet.id = id;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.bus = bus;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*8);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAN_FRAME_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAN_FRAME;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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}
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/**
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* @brief Encode a can_frame struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param can_frame C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_can_frame_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_can_frame_t* can_frame)
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{
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return mavlink_msg_can_frame_pack(system_id, component_id, msg, can_frame->target_system, can_frame->target_component, can_frame->bus, can_frame->len, can_frame->id, can_frame->data);
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}
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/**
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* @brief Encode a can_frame struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param can_frame C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_can_frame_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_can_frame_t* can_frame)
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{
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return mavlink_msg_can_frame_pack_chan(system_id, component_id, chan, msg, can_frame->target_system, can_frame->target_component, can_frame->bus, can_frame->len, can_frame->id, can_frame->data);
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}
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/**
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* @brief Send a can_frame message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param bus Bus number
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* @param len Frame length
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* @param id Frame ID
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* @param data Frame data
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_can_frame_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t bus, uint8_t len, uint32_t id, const uint8_t *data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_CAN_FRAME_LEN];
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_uint8_t(buf, 4, target_system);
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_mav_put_uint8_t(buf, 5, target_component);
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_mav_put_uint8_t(buf, 6, bus);
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_mav_put_uint8_t(buf, 7, len);
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_mav_put_uint8_t_array(buf, 8, data, 8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, buf, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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#else
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mavlink_can_frame_t packet;
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packet.id = id;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.bus = bus;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, (const char *)&packet, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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#endif
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}
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/**
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* @brief Send a can_frame message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_can_frame_send_struct(mavlink_channel_t chan, const mavlink_can_frame_t* can_frame)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_can_frame_send(chan, can_frame->target_system, can_frame->target_component, can_frame->bus, can_frame->len, can_frame->id, can_frame->data);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, (const char *)can_frame, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CAN_FRAME_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_can_frame_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t bus, uint8_t len, uint32_t id, const uint8_t *data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_uint8_t(buf, 4, target_system);
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_mav_put_uint8_t(buf, 5, target_component);
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_mav_put_uint8_t(buf, 6, bus);
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_mav_put_uint8_t(buf, 7, len);
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_mav_put_uint8_t_array(buf, 8, data, 8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, buf, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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#else
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mavlink_can_frame_t *packet = (mavlink_can_frame_t *)msgbuf;
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packet->id = id;
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packet->target_system = target_system;
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packet->target_component = target_component;
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packet->bus = bus;
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packet->len = len;
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mav_array_memcpy(packet->data, data, sizeof(uint8_t)*8);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, (const char *)packet, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE CAN_FRAME UNPACKING
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/**
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* @brief Get field target_system from can_frame message
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*
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* @return System ID.
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*/
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static inline uint8_t mavlink_msg_can_frame_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field target_component from can_frame message
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*
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* @return Component ID.
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*/
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static inline uint8_t mavlink_msg_can_frame_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 5);
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}
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/**
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* @brief Get field bus from can_frame message
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*
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* @return Bus number
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*/
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static inline uint8_t mavlink_msg_can_frame_get_bus(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 6);
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}
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/**
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* @brief Get field len from can_frame message
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*
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* @return Frame length
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*/
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static inline uint8_t mavlink_msg_can_frame_get_len(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 7);
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}
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/**
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* @brief Get field id from can_frame message
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*
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* @return Frame ID
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*/
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static inline uint32_t mavlink_msg_can_frame_get_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field data from can_frame message
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*
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* @return Frame data
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*/
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static inline uint16_t mavlink_msg_can_frame_get_data(const mavlink_message_t* msg, uint8_t *data)
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{
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return _MAV_RETURN_uint8_t_array(msg, data, 8, 8);
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}
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/**
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* @brief Decode a can_frame message into a struct
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*
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* @param msg The message to decode
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* @param can_frame C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_can_frame_decode(const mavlink_message_t* msg, mavlink_can_frame_t* can_frame)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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can_frame->id = mavlink_msg_can_frame_get_id(msg);
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can_frame->target_system = mavlink_msg_can_frame_get_target_system(msg);
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can_frame->target_component = mavlink_msg_can_frame_get_target_component(msg);
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can_frame->bus = mavlink_msg_can_frame_get_bus(msg);
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can_frame->len = mavlink_msg_can_frame_get_len(msg);
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mavlink_msg_can_frame_get_data(msg, can_frame->data);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_CAN_FRAME_LEN? msg->len : MAVLINK_MSG_ID_CAN_FRAME_LEN;
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memset(can_frame, 0, MAVLINK_MSG_ID_CAN_FRAME_LEN);
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memcpy(can_frame, _MAV_PAYLOAD(msg), len);
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#endif
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}
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