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166 lines
5.3 KiB
166 lines
5.3 KiB
// MESSAGE DEBUG PACKING |
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#define MAVLINK_MSG_ID_DEBUG 255 |
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#define MAVLINK_MSG_ID_DEBUG_LEN 5 |
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#define MAVLINK_MSG_255_LEN 5 |
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typedef struct __mavlink_debug_t |
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{ |
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uint8_t ind; ///< index of debug variable |
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float value; ///< DEBUG value |
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} mavlink_debug_t; |
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/** |
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* @brief Pack a debug 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 ind index of debug variable |
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* @param value DEBUG value |
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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_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value) |
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{ |
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mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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p->ind = ind; // uint8_t:index of debug variable |
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p->value = value; // float:DEBUG value |
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN); |
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} |
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/** |
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* @brief Pack a debug 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 chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param ind index of debug variable |
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* @param value DEBUG value |
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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_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value) |
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{ |
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mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0]; |
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msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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p->ind = ind; // uint8_t:index of debug variable |
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p->value = value; // float:DEBUG value |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN); |
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} |
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/** |
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* @brief Encode a debug struct into a message |
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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 debug C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) |
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{ |
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return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value); |
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} |
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/** |
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* @brief Send a debug message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param ind index of debug variable |
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* @param value DEBUG value |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value) |
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{ |
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mavlink_message_t msg; |
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uint16_t checksum; |
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mavlink_debug_t *p = (mavlink_debug_t *)&msg.payload[0]; |
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p->ind = ind; // uint8_t:index of debug variable |
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p->value = value; // float:DEBUG value |
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msg.STX = MAVLINK_STX; |
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msg.len = MAVLINK_MSG_ID_DEBUG_LEN; |
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msg.msgid = MAVLINK_MSG_ID_DEBUG; |
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msg.sysid = mavlink_system.sysid; |
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msg.compid = mavlink_system.compid; |
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msg.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1; |
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checksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN); |
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msg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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msg.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_msg(chan, &msg); |
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} |
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#endif |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL |
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static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value) |
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{ |
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mavlink_header_t hdr; |
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mavlink_debug_t payload; |
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uint16_t checksum; |
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mavlink_debug_t *p = &payload; |
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p->ind = ind; // uint8_t:index of debug variable |
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p->value = value; // float:DEBUG value |
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hdr.STX = MAVLINK_STX; |
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hdr.len = MAVLINK_MSG_ID_DEBUG_LEN; |
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hdr.msgid = MAVLINK_MSG_ID_DEBUG; |
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hdr.sysid = mavlink_system.sysid; |
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hdr.compid = mavlink_system.compid; |
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hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq; |
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mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1; |
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mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES ); |
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crc_init(&checksum); |
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checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN); |
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checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len ); |
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hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte |
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hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte |
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mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len); |
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mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES); |
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} |
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#endif |
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// MESSAGE DEBUG UNPACKING |
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/** |
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* @brief Get field ind from debug message |
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* |
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* @return index of debug variable |
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*/ |
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static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) |
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{ |
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mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0]; |
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return (uint8_t)(p->ind); |
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} |
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/** |
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* @brief Get field value from debug message |
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* |
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* @return DEBUG value |
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*/ |
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static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) |
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{ |
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mavlink_debug_t *p = (mavlink_debug_t *)&msg->payload[0]; |
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return (float)(p->value); |
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} |
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/** |
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* @brief Decode a debug message into a struct |
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* |
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* @param msg The message to decode |
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* @param debug C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) |
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{ |
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memcpy( debug, msg->payload, sizeof(mavlink_debug_t)); |
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}
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