429 lines
16 KiB
C
429 lines
16 KiB
C
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#pragma once
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// MESSAGE RADIO PACKING
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#define MAVLINK_MSG_ID_RADIO 166
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typedef struct __mavlink_radio_t {
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uint16_t rxerrors; /*< Receive errors.*/
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uint16_t fixed; /*< Count of error corrected packets.*/
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uint8_t rssi; /*< Local signal strength.*/
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uint8_t remrssi; /*< Remote signal strength.*/
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uint8_t txbuf; /*< [%] How full the tx buffer is.*/
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uint8_t noise; /*< Background noise level.*/
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uint8_t remnoise; /*< Remote background noise level.*/
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} mavlink_radio_t;
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#define MAVLINK_MSG_ID_RADIO_LEN 9
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#define MAVLINK_MSG_ID_RADIO_MIN_LEN 9
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#define MAVLINK_MSG_ID_166_LEN 9
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#define MAVLINK_MSG_ID_166_MIN_LEN 9
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#define MAVLINK_MSG_ID_RADIO_CRC 21
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#define MAVLINK_MSG_ID_166_CRC 21
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_RADIO { \
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166, \
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"RADIO", \
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7, \
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{ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \
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{ "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \
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{ "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \
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{ "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \
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{ "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \
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{ "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \
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{ "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_RADIO { \
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"RADIO", \
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7, \
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{ { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \
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{ "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \
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{ "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \
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{ "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \
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{ "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \
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{ "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \
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{ "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a radio 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 rssi Local signal strength.
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* @param remrssi Remote signal strength.
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* @param txbuf [%] How full the tx buffer is.
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* @param noise Background noise level.
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* @param remnoise Remote background noise level.
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* @param rxerrors Receive errors.
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* @param fixed Count of error corrected packets.
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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_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
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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_RADIO_LEN];
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_mav_put_uint16_t(buf, 0, rxerrors);
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_mav_put_uint16_t(buf, 2, fixed);
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_mav_put_uint8_t(buf, 4, rssi);
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_mav_put_uint8_t(buf, 5, remrssi);
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_mav_put_uint8_t(buf, 6, txbuf);
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_mav_put_uint8_t(buf, 7, noise);
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_mav_put_uint8_t(buf, 8, remnoise);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
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#else
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mavlink_radio_t packet;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RADIO;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
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}
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/**
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* @brief Pack a radio 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 rssi Local signal strength.
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* @param remrssi Remote signal strength.
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* @param txbuf [%] How full the tx buffer is.
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* @param noise Background noise level.
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* @param remnoise Remote background noise level.
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* @param rxerrors Receive errors.
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* @param fixed Count of error corrected packets.
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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_radio_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
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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_RADIO_LEN];
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_mav_put_uint16_t(buf, 0, rxerrors);
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_mav_put_uint16_t(buf, 2, fixed);
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_mav_put_uint8_t(buf, 4, rssi);
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_mav_put_uint8_t(buf, 5, remrssi);
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_mav_put_uint8_t(buf, 6, txbuf);
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_mav_put_uint8_t(buf, 7, noise);
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_mav_put_uint8_t(buf, 8, remnoise);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
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#else
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mavlink_radio_t packet;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RADIO;
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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_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN);
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#endif
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}
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/**
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* @brief Pack a radio 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 rssi Local signal strength.
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* @param remrssi Remote signal strength.
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* @param txbuf [%] How full the tx buffer is.
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* @param noise Background noise level.
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* @param remnoise Remote background noise level.
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* @param rxerrors Receive errors.
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* @param fixed Count of error corrected packets.
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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_radio_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 rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
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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_RADIO_LEN];
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_mav_put_uint16_t(buf, 0, rxerrors);
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_mav_put_uint16_t(buf, 2, fixed);
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_mav_put_uint8_t(buf, 4, rssi);
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_mav_put_uint8_t(buf, 5, remrssi);
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_mav_put_uint8_t(buf, 6, txbuf);
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_mav_put_uint8_t(buf, 7, noise);
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_mav_put_uint8_t(buf, 8, remnoise);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
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#else
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mavlink_radio_t packet;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RADIO;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
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}
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/**
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* @brief Encode a radio 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 radio C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio)
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{
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return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
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}
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/**
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* @brief Encode a radio 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 radio C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_radio_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_t* radio)
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{
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return mavlink_msg_radio_pack_chan(system_id, component_id, chan, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
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}
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/**
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* @brief Encode a radio 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 radio C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_radio_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_radio_t* radio)
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{
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return mavlink_msg_radio_pack_status(system_id, component_id, _status, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
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}
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/**
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* @brief Send a radio message
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* @param chan MAVLink channel to send the message
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*
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* @param rssi Local signal strength.
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* @param remrssi Remote signal strength.
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* @param txbuf [%] How full the tx buffer is.
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* @param noise Background noise level.
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* @param remnoise Remote background noise level.
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* @param rxerrors Receive errors.
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* @param fixed Count of error corrected packets.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
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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_RADIO_LEN];
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_mav_put_uint16_t(buf, 0, rxerrors);
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_mav_put_uint16_t(buf, 2, fixed);
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_mav_put_uint8_t(buf, 4, rssi);
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_mav_put_uint8_t(buf, 5, remrssi);
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_mav_put_uint8_t(buf, 6, txbuf);
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_mav_put_uint8_t(buf, 7, noise);
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_mav_put_uint8_t(buf, 8, remnoise);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
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#else
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mavlink_radio_t packet;
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packet.rxerrors = rxerrors;
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packet.fixed = fixed;
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packet.rssi = rssi;
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packet.remrssi = remrssi;
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packet.txbuf = txbuf;
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packet.noise = noise;
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packet.remnoise = remnoise;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
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#endif
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}
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/**
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* @brief Send a radio 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_radio_send_struct(mavlink_channel_t chan, const mavlink_radio_t* radio)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_radio_send(chan, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)radio, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_RADIO_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_radio_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint16_t(buf, 0, rxerrors);
|
||
|
|
_mav_put_uint16_t(buf, 2, fixed);
|
||
|
|
_mav_put_uint8_t(buf, 4, rssi);
|
||
|
|
_mav_put_uint8_t(buf, 5, remrssi);
|
||
|
|
_mav_put_uint8_t(buf, 6, txbuf);
|
||
|
|
_mav_put_uint8_t(buf, 7, noise);
|
||
|
|
_mav_put_uint8_t(buf, 8, remnoise);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_radio_t *packet = (mavlink_radio_t *)msgbuf;
|
||
|
|
packet->rxerrors = rxerrors;
|
||
|
|
packet->fixed = fixed;
|
||
|
|
packet->rssi = rssi;
|
||
|
|
packet->remrssi = remrssi;
|
||
|
|
packet->txbuf = txbuf;
|
||
|
|
packet->noise = noise;
|
||
|
|
packet->remnoise = remnoise;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)packet, MAVLINK_MSG_ID_RADIO_MIN_LEN, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE RADIO UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field rssi from radio message
|
||
|
|
*
|
||
|
|
* @return Local signal strength.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field remrssi from radio message
|
||
|
|
*
|
||
|
|
* @return Remote signal strength.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 5);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field txbuf from radio message
|
||
|
|
*
|
||
|
|
* @return [%] How full the tx buffer is.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 6);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field noise from radio message
|
||
|
|
*
|
||
|
|
* @return Background noise level.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 7);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field remnoise from radio message
|
||
|
|
*
|
||
|
|
* @return Remote background noise level.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field rxerrors from radio message
|
||
|
|
*
|
||
|
|
* @return Receive errors.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field fixed from radio message
|
||
|
|
*
|
||
|
|
* @return Count of error corrected packets.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 2);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a radio message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param radio C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg);
|
||
|
|
radio->fixed = mavlink_msg_radio_get_fixed(msg);
|
||
|
|
radio->rssi = mavlink_msg_radio_get_rssi(msg);
|
||
|
|
radio->remrssi = mavlink_msg_radio_get_remrssi(msg);
|
||
|
|
radio->txbuf = mavlink_msg_radio_get_txbuf(msg);
|
||
|
|
radio->noise = mavlink_msg_radio_get_noise(msg);
|
||
|
|
radio->remnoise = mavlink_msg_radio_get_remnoise(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_RADIO_LEN? msg->len : MAVLINK_MSG_ID_RADIO_LEN;
|
||
|
|
memset(radio, 0, MAVLINK_MSG_ID_RADIO_LEN);
|
||
|
|
memcpy(radio, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|