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33 lines
808 B
33 lines
808 B
15 years ago
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// MESSAGE HEARTBEAT PACKING
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#define MESSAGE_ID_HEARTBEAT 0
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/**
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* @brief Send a heartbeat message
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*
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* @param type Type of the MAV (quadrotor, helicopter, etc.)
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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 message_heartbeat_pack(uint8_t system_id, CommMessage_t* msg, uint8 type)
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{
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msg->msgid = MESSAGE_ID_HEARTBEAT;
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uint16_t i = 0;
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i += put_uint8_by_index(type, i, msg->payload); //Type of the MAV (quadrotor, helicopter, etc.)
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return finalize_message(msg, system_id, i);
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}
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// MESSAGE HEARTBEAT UNPACKING
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/**
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* @brief Get field type from heartbeat message
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*
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* @return Type of the MAV (quadrotor, helicopter, etc.)
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*/
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static inline uint8 message_heartbeat_get_type(CommMessage_t* msg)
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{
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return *((uint8*) (void*)msg->payload);
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}
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