1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
281 lines
10 KiB
C
281 lines
10 KiB
C
#pragma once
|
|
// MESSAGE LOG_DATA PACKING
|
|
|
|
#define MAVLINK_MSG_ID_LOG_DATA 120
|
|
|
|
MAVPACKED(
|
|
typedef struct __mavlink_log_data_t {
|
|
uint32_t ofs; /*< Offset into the log*/
|
|
uint16_t id; /*< Log id (from LOG_ENTRY reply)*/
|
|
uint8_t count; /*< [bytes] Number of bytes (zero for end of log)*/
|
|
uint8_t data[90]; /*< log data*/
|
|
}) mavlink_log_data_t;
|
|
|
|
#define MAVLINK_MSG_ID_LOG_DATA_LEN 97
|
|
#define MAVLINK_MSG_ID_LOG_DATA_MIN_LEN 97
|
|
#define MAVLINK_MSG_ID_120_LEN 97
|
|
#define MAVLINK_MSG_ID_120_MIN_LEN 97
|
|
|
|
#define MAVLINK_MSG_ID_LOG_DATA_CRC 134
|
|
#define MAVLINK_MSG_ID_120_CRC 134
|
|
|
|
#define MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN 90
|
|
|
|
#if MAVLINK_COMMAND_24BIT
|
|
#define MAVLINK_MESSAGE_INFO_LOG_DATA { \
|
|
120, \
|
|
"LOG_DATA", \
|
|
4, \
|
|
{ { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
|
|
{ "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
|
|
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
|
|
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
|
|
} \
|
|
}
|
|
#else
|
|
#define MAVLINK_MESSAGE_INFO_LOG_DATA { \
|
|
"LOG_DATA", \
|
|
4, \
|
|
{ { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
|
|
{ "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
|
|
{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
|
|
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Pack a log_data 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 id Log id (from LOG_ENTRY reply)
|
|
* @param ofs Offset into the log
|
|
* @param count [bytes] Number of bytes (zero for end of log)
|
|
* @param data log data
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_log_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
|
|
_mav_put_uint32_t(buf, 0, ofs);
|
|
_mav_put_uint16_t(buf, 4, id);
|
|
_mav_put_uint8_t(buf, 6, count);
|
|
_mav_put_uint8_t_array(buf, 7, data, 90);
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
|
|
#else
|
|
mavlink_log_data_t packet;
|
|
packet.ofs = ofs;
|
|
packet.id = id;
|
|
packet.count = count;
|
|
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a log_data 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 id Log id (from LOG_ENTRY reply)
|
|
* @param ofs Offset into the log
|
|
* @param count [bytes] Number of bytes (zero for end of log)
|
|
* @param data log data
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_log_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint16_t id,uint32_t ofs,uint8_t count,const uint8_t *data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
|
|
_mav_put_uint32_t(buf, 0, ofs);
|
|
_mav_put_uint16_t(buf, 4, id);
|
|
_mav_put_uint8_t(buf, 6, count);
|
|
_mav_put_uint8_t_array(buf, 7, data, 90);
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
|
|
#else
|
|
mavlink_log_data_t packet;
|
|
packet.ofs = ofs;
|
|
packet.id = id;
|
|
packet.count = count;
|
|
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a log_data 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 log_data C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_log_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
|
|
{
|
|
return mavlink_msg_log_data_pack(system_id, component_id, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a log_data 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 log_data C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_log_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
|
|
{
|
|
return mavlink_msg_log_data_pack_chan(system_id, component_id, chan, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a log_data message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param id Log id (from LOG_ENTRY reply)
|
|
* @param ofs Offset into the log
|
|
* @param count [bytes] Number of bytes (zero for end of log)
|
|
* @param data log data
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
|
|
_mav_put_uint32_t(buf, 0, ofs);
|
|
_mav_put_uint16_t(buf, 4, id);
|
|
_mav_put_uint8_t(buf, 6, count);
|
|
_mav_put_uint8_t_array(buf, 7, data, 90);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
#else
|
|
mavlink_log_data_t packet;
|
|
packet.ofs = ofs;
|
|
packet.id = id;
|
|
packet.count = count;
|
|
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a log_data message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_log_data_send_struct(mavlink_channel_t chan, const mavlink_log_data_t* log_data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_log_data_send(chan, log_data->id, log_data->ofs, log_data->count, log_data->data);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)log_data, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_LOG_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This varient 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_log_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, ofs);
|
|
_mav_put_uint16_t(buf, 4, id);
|
|
_mav_put_uint8_t(buf, 6, count);
|
|
_mav_put_uint8_t_array(buf, 7, data, 90);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
#else
|
|
mavlink_log_data_t *packet = (mavlink_log_data_t *)msgbuf;
|
|
packet->ofs = ofs;
|
|
packet->id = id;
|
|
packet->count = count;
|
|
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*90);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_MIN_LEN, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE LOG_DATA UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field id from log_data message
|
|
*
|
|
* @return Log id (from LOG_ENTRY reply)
|
|
*/
|
|
static inline uint16_t mavlink_msg_log_data_get_id(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ofs from log_data message
|
|
*
|
|
* @return Offset into the log
|
|
*/
|
|
static inline uint32_t mavlink_msg_log_data_get_ofs(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field count from log_data message
|
|
*
|
|
* @return [bytes] Number of bytes (zero for end of log)
|
|
*/
|
|
static inline uint8_t mavlink_msg_log_data_get_count(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 6);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field data from log_data message
|
|
*
|
|
* @return log data
|
|
*/
|
|
static inline uint16_t mavlink_msg_log_data_get_data(const mavlink_message_t* msg, uint8_t *data)
|
|
{
|
|
return _MAV_RETURN_uint8_t_array(msg, data, 90, 7);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a log_data message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param log_data C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_log_data_decode(const mavlink_message_t* msg, mavlink_log_data_t* log_data)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
log_data->ofs = mavlink_msg_log_data_get_ofs(msg);
|
|
log_data->id = mavlink_msg_log_data_get_id(msg);
|
|
log_data->count = mavlink_msg_log_data_get_count(msg);
|
|
mavlink_msg_log_data_get_data(msg, log_data->data);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_LOG_DATA_LEN? msg->len : MAVLINK_MSG_ID_LOG_DATA_LEN;
|
|
memset(log_data, 0, MAVLINK_MSG_ID_LOG_DATA_LEN);
|
|
memcpy(log_data, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|