307 lines
11 KiB
C
307 lines
11 KiB
C
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#pragma once
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// MESSAGE DATA96 PACKING
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#define MAVLINK_MSG_ID_DATA96 172
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typedef struct __mavlink_data96_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[96]; /*< Raw data.*/
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} mavlink_data96_t;
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#define MAVLINK_MSG_ID_DATA96_LEN 98
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#define MAVLINK_MSG_ID_DATA96_MIN_LEN 98
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#define MAVLINK_MSG_ID_172_LEN 98
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#define MAVLINK_MSG_ID_172_MIN_LEN 98
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#define MAVLINK_MSG_ID_DATA96_CRC 22
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#define MAVLINK_MSG_ID_172_CRC 22
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#define MAVLINK_MSG_DATA96_FIELD_DATA_LEN 96
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_DATA96 { \
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172, \
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"DATA96", \
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3, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data96_t, type) }, \
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{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data96_t, len) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 96, 2, offsetof(mavlink_data96_t, data) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_DATA96 { \
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"DATA96", \
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3, \
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{ { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_data96_t, type) }, \
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{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_data96_t, len) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 96, 2, offsetof(mavlink_data96_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 data96 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_data96_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_DATA96_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, 96);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN);
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#else
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mavlink_data96_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)*96);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DATA96;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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}
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/**
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* @brief Pack a data96 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_data96_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_DATA96_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, 96);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN);
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#else
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mavlink_data96_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)*96);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DATA96;
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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_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN);
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#endif
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}
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/**
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* @brief Pack a data96 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_data96_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_DATA96_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, 96);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN);
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#else
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mavlink_data96_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)*96);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_DATA96;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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}
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/**
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* @brief Encode a data96 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 data96 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data96_t* data96)
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{
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return mavlink_msg_data96_pack(system_id, component_id, msg, data96->type, data96->len, data96->data);
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}
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/**
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* @brief Encode a data96 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 data96 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_data96_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data96_t* data96)
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{
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return mavlink_msg_data96_pack_chan(system_id, component_id, chan, msg, data96->type, data96->len, data96->data);
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}
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/**
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* @brief Encode a data96 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 data96 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_data96_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_data96_t* data96)
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{
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return mavlink_msg_data96_pack_status(system_id, component_id, _status, msg, data96->type, data96->len, data96->data);
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}
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/**
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* @brief Send a data96 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_data96_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_DATA96_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, 96);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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#else
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mavlink_data96_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)*96);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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#endif
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}
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/**
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* @brief Send a data96 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_data96_send_struct(mavlink_channel_t chan, const mavlink_data96_t* data96)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_data96_send(chan, data96->type, data96->len, data96->data);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)data96, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_DATA96_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_data96_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, 96);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
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#else
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mavlink_data96_t *packet = (mavlink_data96_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)*96);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)packet, MAVLINK_MSG_ID_DATA96_MIN_LEN, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_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 DATA96 UNPACKING
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/**
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* @brief Get field type from data96 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_data96_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 data96 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_data96_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 data96 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_data96_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, 96, 2);
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}
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/**
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* @brief Decode a data96 message into a struct
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*
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* @param msg The message to decode
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* @param data96 C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_data96_decode(const mavlink_message_t* msg, mavlink_data96_t* data96)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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data96->type = mavlink_msg_data96_get_type(msg);
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data96->len = mavlink_msg_data96_get_len(msg);
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mavlink_msg_data96_get_data(msg, data96->data);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_DATA96_LEN? msg->len : MAVLINK_MSG_ID_DATA96_LEN;
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memset(data96, 0, MAVLINK_MSG_ID_DATA96_LEN);
|
||
|
|
memcpy(data96, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|