289 lines
11 KiB
C
289 lines
11 KiB
C
|
#pragma once
|
||
|
|
// MESSAGE BATTERY2 PACKING
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_BATTERY2 181
|
||
|
|
|
||
|
|
|
||
|
|
typedef struct __mavlink_battery2_t {
|
||
|
|
uint16_t voltage; /*< [mV] Voltage.*/
|
||
|
|
int16_t current_battery; /*< [cA] Battery current, -1: autopilot does not measure the current.*/
|
||
|
|
} mavlink_battery2_t;
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_BATTERY2_LEN 4
|
||
|
|
#define MAVLINK_MSG_ID_BATTERY2_MIN_LEN 4
|
||
|
|
#define MAVLINK_MSG_ID_181_LEN 4
|
||
|
|
#define MAVLINK_MSG_ID_181_MIN_LEN 4
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_BATTERY2_CRC 174
|
||
|
|
#define MAVLINK_MSG_ID_181_CRC 174
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#if MAVLINK_COMMAND_24BIT
|
||
|
|
#define MAVLINK_MESSAGE_INFO_BATTERY2 { \
|
||
|
|
181, \
|
||
|
|
"BATTERY2", \
|
||
|
|
2, \
|
||
|
|
{ { "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery2_t, voltage) }, \
|
||
|
|
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_battery2_t, current_battery) }, \
|
||
|
|
} \
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
#define MAVLINK_MESSAGE_INFO_BATTERY2 { \
|
||
|
|
"BATTERY2", \
|
||
|
|
2, \
|
||
|
|
{ { "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery2_t, voltage) }, \
|
||
|
|
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_battery2_t, current_battery) }, \
|
||
|
|
} \
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Pack a battery2 message
|
||
|
|
* @param system_id ID of this system
|
||
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
*
|
||
|
|
* @param voltage [mV] Voltage.
|
||
|
|
* @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
|
||
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||
|
|
uint16_t voltage, int16_t current_battery)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
|
||
|
|
_mav_put_uint16_t(buf, 0, voltage);
|
||
|
|
_mav_put_int16_t(buf, 2, current_battery);
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#else
|
||
|
|
mavlink_battery2_t packet;
|
||
|
|
packet.voltage = voltage;
|
||
|
|
packet.current_battery = current_battery;
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
msg->msgid = MAVLINK_MSG_ID_BATTERY2;
|
||
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Pack a battery2 message
|
||
|
|
* @param system_id ID of this system
|
||
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
||
|
|
* @param status MAVLink status structure
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
*
|
||
|
|
* @param voltage [mV] Voltage.
|
||
|
|
* @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
|
||
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
|
||
|
|
uint16_t voltage, int16_t current_battery)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
|
||
|
|
_mav_put_uint16_t(buf, 0, voltage);
|
||
|
|
_mav_put_int16_t(buf, 2, current_battery);
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#else
|
||
|
|
mavlink_battery2_t packet;
|
||
|
|
packet.voltage = voltage;
|
||
|
|
packet.current_battery = current_battery;
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
msg->msgid = MAVLINK_MSG_ID_BATTERY2;
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
#else
|
||
|
|
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Pack a battery2 message on a channel
|
||
|
|
* @param system_id ID of this system
|
||
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
||
|
|
* @param chan The MAVLink channel this message will be sent over
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
* @param voltage [mV] Voltage.
|
||
|
|
* @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
|
||
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||
|
|
mavlink_message_t* msg,
|
||
|
|
uint16_t voltage,int16_t current_battery)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
|
||
|
|
_mav_put_uint16_t(buf, 0, voltage);
|
||
|
|
_mav_put_int16_t(buf, 2, current_battery);
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#else
|
||
|
|
mavlink_battery2_t packet;
|
||
|
|
packet.voltage = voltage;
|
||
|
|
packet.current_battery = current_battery;
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
msg->msgid = MAVLINK_MSG_ID_BATTERY2;
|
||
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Encode a battery2 struct
|
||
|
|
*
|
||
|
|
* @param system_id ID of this system
|
||
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
* @param battery2 C-struct to read the message contents from
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
|
||
|
|
{
|
||
|
|
return mavlink_msg_battery2_pack(system_id, component_id, msg, battery2->voltage, battery2->current_battery);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Encode a battery2 struct on a channel
|
||
|
|
*
|
||
|
|
* @param system_id ID of this system
|
||
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
||
|
|
* @param chan The MAVLink channel this message will be sent over
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
* @param battery2 C-struct to read the message contents from
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
|
||
|
|
{
|
||
|
|
return mavlink_msg_battery2_pack_chan(system_id, component_id, chan, msg, battery2->voltage, battery2->current_battery);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Encode a battery2 struct with provided status structure
|
||
|
|
*
|
||
|
|
* @param system_id ID of this system
|
||
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
||
|
|
* @param status MAVLink status structure
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
* @param battery2 C-struct to read the message contents from
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
|
||
|
|
{
|
||
|
|
return mavlink_msg_battery2_pack_status(system_id, component_id, _status, msg, battery2->voltage, battery2->current_battery);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send a battery2 message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
*
|
||
|
|
* @param voltage [mV] Voltage.
|
||
|
|
* @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
|
||
|
|
*/
|
||
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||
|
|
|
||
|
|
static inline void mavlink_msg_battery2_send(mavlink_channel_t chan, uint16_t voltage, int16_t current_battery)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
|
||
|
|
_mav_put_uint16_t(buf, 0, voltage);
|
||
|
|
_mav_put_int16_t(buf, 2, current_battery);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_battery2_t packet;
|
||
|
|
packet.voltage = voltage;
|
||
|
|
packet.current_battery = current_battery;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)&packet, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send a battery2 message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
* @param struct The MAVLink struct to serialize
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_battery2_send_struct(mavlink_channel_t chan, const mavlink_battery2_t* battery2)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
mavlink_msg_battery2_send(chan, battery2->voltage, battery2->current_battery);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)battery2, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_BATTERY2_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||
|
|
/*
|
||
|
|
This variant of _send() can be used to save stack space by re-using
|
||
|
|
memory from the receive buffer. The caller provides a
|
||
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
||
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
||
|
|
incoming message with minimum stack space usage.
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_battery2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t voltage, int16_t current_battery)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint16_t(buf, 0, voltage);
|
||
|
|
_mav_put_int16_t(buf, 2, current_battery);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_battery2_t *packet = (mavlink_battery2_t *)msgbuf;
|
||
|
|
packet->voltage = voltage;
|
||
|
|
packet->current_battery = current_battery;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)packet, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE BATTERY2 UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field voltage from battery2 message
|
||
|
|
*
|
||
|
|
* @return [mV] Voltage.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_battery2_get_voltage(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field current_battery from battery2 message
|
||
|
|
*
|
||
|
|
* @return [cA] Battery current, -1: autopilot does not measure the current.
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_battery2_get_current_battery(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 2);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a battery2 message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param battery2 C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_battery2_decode(const mavlink_message_t* msg, mavlink_battery2_t* battery2)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
battery2->voltage = mavlink_msg_battery2_get_voltage(msg);
|
||
|
|
battery2->current_battery = mavlink_msg_battery2_get_current_battery(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_BATTERY2_LEN? msg->len : MAVLINK_MSG_ID_BATTERY2_LEN;
|
||
|
|
memset(battery2, 0, MAVLINK_MSG_ID_BATTERY2_LEN);
|
||
|
|
memcpy(battery2, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|