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32 lines
808 B
32 lines
808 B
// 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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