307 lines
11 KiB
C
307 lines
11 KiB
C
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#pragma once
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// MESSAGE DATA16 PACKING
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#define MAVLINK_MSG_ID_DATA16 169
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typedef struct __mavlink_data16_t {
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uint8_t type; /*< Data type.*/
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uint8_t len; /*< [bytes] Data length.*/
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uint8_t data[16]; /*< Raw data.*/
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} mavlink_data16_t;
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#define MAVLINK_MSG_ID_DATA16_LEN 18
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#define MAVLINK_MSG_ID_DATA16_MIN_LEN 18
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#define MAVLINK_MSG_ID_169_LEN 18
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#define MAVLINK_MSG_ID_169_MIN_LEN 18
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#define MAVLINK_MSG_ID_DATA16_CRC 234
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#define MAVLINK_MSG_ID_169_CRC 234
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#define MAVLINK_MSG_DATA16_FIELD_DATA_LEN 16
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_DATA16 { \
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169, \
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"DATA16", \
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3, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data16_t, type) }, \
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{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data16_t, len) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 16, 2, offsetof(mavlink_data16_t, data) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_DATA16 { \
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"DATA16", \
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3, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data16_t, type) }, \
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{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data16_t, len) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 16, 2, offsetof(mavlink_data16_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 data16 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 type Data type.
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* @param len [bytes] Data length.
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* @param data Raw 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_data16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t type, uint8_t len, 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_DATA16_LEN];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, len);
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_mav_put_uint8_t_array(buf, 2, data, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
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#else
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mavlink_data16_t packet;
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packet.type = type;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DATA16;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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}
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/**
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* @brief Pack a data16 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 status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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*
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* @param type Data type.
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* @param len [bytes] Data length.
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* @param data Raw 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_data16_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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uint8_t type, uint8_t len, 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_DATA16_LEN];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, len);
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_mav_put_uint8_t_array(buf, 2, data, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
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#else
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mavlink_data16_t packet;
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packet.type = type;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DATA16;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN);
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#endif
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}
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/**
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* @brief Pack a data16 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 type Data type.
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* @param len [bytes] Data length.
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* @param data Raw 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_data16_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 type,uint8_t len,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_DATA16_LEN];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, len);
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_mav_put_uint8_t_array(buf, 2, data, 16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA16_LEN);
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#else
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mavlink_data16_t packet;
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packet.type = type;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA16_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DATA16;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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}
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/**
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* @brief Encode a data16 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 data16 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_data16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data16_t* data16)
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{
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return mavlink_msg_data16_pack(system_id, component_id, msg, data16->type, data16->len, data16->data);
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}
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/**
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* @brief Encode a data16 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 data16 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_data16_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data16_t* data16)
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{
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return mavlink_msg_data16_pack_chan(system_id, component_id, chan, msg, data16->type, data16->len, data16->data);
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}
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/**
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* @brief Encode a data16 struct with provided status structure
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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 status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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* @param data16 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_data16_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_data16_t* data16)
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{
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return mavlink_msg_data16_pack_status(system_id, component_id, _status, msg, data16->type, data16->len, data16->data);
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}
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/**
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* @brief Send a data16 message
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* @param chan MAVLink channel to send the message
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*
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* @param type Data type.
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* @param len [bytes] Data length.
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* @param data Raw data.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_data16_send(mavlink_channel_t chan, uint8_t type, uint8_t len, 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_DATA16_LEN];
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_mav_put_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, len);
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_mav_put_uint8_t_array(buf, 2, data, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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#else
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mavlink_data16_t packet;
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packet.type = type;
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packet.len = len;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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#endif
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}
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/**
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* @brief Send a data16 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_data16_send_struct(mavlink_channel_t chan, const mavlink_data16_t* data16)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_data16_send(chan, data16->type, data16->len, data16->data);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)data16, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_DATA16_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_data16_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t type, uint8_t len, 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_uint8_t(buf, 0, type);
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_mav_put_uint8_t(buf, 1, len);
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_mav_put_uint8_t_array(buf, 2, data, 16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
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#else
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mavlink_data16_t *packet = (mavlink_data16_t *)msgbuf;
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packet->type = type;
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packet->len = len;
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mav_array_memcpy(packet->data, data, sizeof(uint8_t)*16);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)packet, MAVLINK_MSG_ID_DATA16_MIN_LEN, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_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 DATA16 UNPACKING
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/**
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* @brief Get field type from data16 message
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*
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* @return Data type.
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*/
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static inline uint8_t mavlink_msg_data16_get_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 0);
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}
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/**
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* @brief Get field len from data16 message
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*
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* @return [bytes] Data length.
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*/
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static inline uint8_t mavlink_msg_data16_get_len(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 1);
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}
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/**
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* @brief Get field data from data16 message
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*
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* @return Raw data.
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*/
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static inline uint16_t mavlink_msg_data16_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, 16, 2);
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}
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/**
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* @brief Decode a data16 message into a struct
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*
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* @param msg The message to decode
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* @param data16 C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_data16_decode(const mavlink_message_t* msg, mavlink_data16_t* data16)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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data16->type = mavlink_msg_data16_get_type(msg);
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data16->len = mavlink_msg_data16_get_len(msg);
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mavlink_msg_data16_get_data(msg, data16->data);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_DATA16_LEN? msg->len : MAVLINK_MSG_ID_DATA16_LEN;
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memset(data16, 0, MAVLINK_MSG_ID_DATA16_LEN);
|
||
|
|
memcpy(data16, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|