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
331 lines
14 KiB
C
331 lines
14 KiB
C
#pragma once
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// MESSAGE SERIAL_CONTROL PACKING
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#define MAVLINK_MSG_ID_SERIAL_CONTROL 126
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MAVPACKED(
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typedef struct __mavlink_serial_control_t {
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uint32_t baudrate; /*< [bits/s] Baudrate of transfer. Zero means no change.*/
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uint16_t timeout; /*< [ms] Timeout for reply data*/
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uint8_t device; /*< Serial control device type.*/
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uint8_t flags; /*< Bitmap of serial control flags.*/
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uint8_t count; /*< [bytes] how many bytes in this transfer*/
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uint8_t data[70]; /*< serial data*/
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}) mavlink_serial_control_t;
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#define MAVLINK_MSG_ID_SERIAL_CONTROL_LEN 79
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#define MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN 79
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#define MAVLINK_MSG_ID_126_LEN 79
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#define MAVLINK_MSG_ID_126_MIN_LEN 79
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#define MAVLINK_MSG_ID_SERIAL_CONTROL_CRC 220
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#define MAVLINK_MSG_ID_126_CRC 220
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#define MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN 70
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SERIAL_CONTROL { \
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126, \
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"SERIAL_CONTROL", \
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6, \
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{ { "device", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_control_t, device) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_control_t, flags) }, \
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{ "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_serial_control_t, timeout) }, \
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{ "baudrate", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_control_t, baudrate) }, \
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{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_control_t, count) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 70, 9, offsetof(mavlink_serial_control_t, data) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SERIAL_CONTROL { \
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"SERIAL_CONTROL", \
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6, \
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{ { "device", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_control_t, device) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_control_t, flags) }, \
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{ "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_serial_control_t, timeout) }, \
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{ "baudrate", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_control_t, baudrate) }, \
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{ "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_control_t, count) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 70, 9, offsetof(mavlink_serial_control_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 serial_control 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 device Serial control device type.
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* @param flags Bitmap of serial control flags.
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* @param timeout [ms] Timeout for reply data
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* @param baudrate [bits/s] Baudrate of transfer. Zero means no change.
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* @param count [bytes] how many bytes in this transfer
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* @param data serial 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_serial_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, 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_SERIAL_CONTROL_LEN];
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_mav_put_uint32_t(buf, 0, baudrate);
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_mav_put_uint16_t(buf, 4, timeout);
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_mav_put_uint8_t(buf, 6, device);
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_mav_put_uint8_t(buf, 7, flags);
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_mav_put_uint8_t(buf, 8, count);
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_mav_put_uint8_t_array(buf, 9, data, 70);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
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#else
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mavlink_serial_control_t packet;
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packet.baudrate = baudrate;
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packet.timeout = timeout;
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packet.device = device;
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packet.flags = flags;
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packet.count = count;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
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}
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/**
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* @brief Pack a serial_control 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 device Serial control device type.
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* @param flags Bitmap of serial control flags.
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* @param timeout [ms] Timeout for reply data
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* @param baudrate [bits/s] Baudrate of transfer. Zero means no change.
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* @param count [bytes] how many bytes in this transfer
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* @param data serial 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_serial_control_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 device,uint8_t flags,uint16_t timeout,uint32_t baudrate,uint8_t count,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_SERIAL_CONTROL_LEN];
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_mav_put_uint32_t(buf, 0, baudrate);
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_mav_put_uint16_t(buf, 4, timeout);
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_mav_put_uint8_t(buf, 6, device);
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_mav_put_uint8_t(buf, 7, flags);
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_mav_put_uint8_t(buf, 8, count);
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_mav_put_uint8_t_array(buf, 9, data, 70);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
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#else
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mavlink_serial_control_t packet;
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packet.baudrate = baudrate;
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packet.timeout = timeout;
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packet.device = device;
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packet.flags = flags;
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packet.count = count;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SERIAL_CONTROL;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
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}
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/**
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* @brief Encode a serial_control 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 serial_control C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_serial_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control)
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{
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return mavlink_msg_serial_control_pack(system_id, component_id, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
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}
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/**
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* @brief Encode a serial_control 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 serial_control C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_serial_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_control_t* serial_control)
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{
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return mavlink_msg_serial_control_pack_chan(system_id, component_id, chan, msg, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
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}
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/**
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* @brief Send a serial_control message
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* @param chan MAVLink channel to send the message
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*
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* @param device Serial control device type.
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* @param flags Bitmap of serial control flags.
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* @param timeout [ms] Timeout for reply data
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* @param baudrate [bits/s] Baudrate of transfer. Zero means no change.
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* @param count [bytes] how many bytes in this transfer
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* @param data serial data
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_serial_control_send(mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, 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_SERIAL_CONTROL_LEN];
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_mav_put_uint32_t(buf, 0, baudrate);
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_mav_put_uint16_t(buf, 4, timeout);
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_mav_put_uint8_t(buf, 6, device);
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_mav_put_uint8_t(buf, 7, flags);
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_mav_put_uint8_t(buf, 8, count);
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_mav_put_uint8_t_array(buf, 9, data, 70);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
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#else
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mavlink_serial_control_t packet;
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packet.baudrate = baudrate;
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packet.timeout = timeout;
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packet.device = device;
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packet.flags = flags;
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packet.count = count;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*70);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
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#endif
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}
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/**
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* @brief Send a serial_control 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_serial_control_send_struct(mavlink_channel_t chan, const mavlink_serial_control_t* serial_control)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_serial_control_send(chan, serial_control->device, serial_control->flags, serial_control->timeout, serial_control->baudrate, serial_control->count, serial_control->data);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)serial_control, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_SERIAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient 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_serial_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, uint8_t count, 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_uint32_t(buf, 0, baudrate);
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_mav_put_uint16_t(buf, 4, timeout);
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_mav_put_uint8_t(buf, 6, device);
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_mav_put_uint8_t(buf, 7, flags);
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_mav_put_uint8_t(buf, 8, count);
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_mav_put_uint8_t_array(buf, 9, data, 70);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, buf, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
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#else
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mavlink_serial_control_t *packet = (mavlink_serial_control_t *)msgbuf;
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packet->baudrate = baudrate;
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packet->timeout = timeout;
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packet->device = device;
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packet->flags = flags;
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packet->count = count;
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mav_array_memcpy(packet->data, data, sizeof(uint8_t)*70);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN, MAVLINK_MSG_ID_SERIAL_CONTROL_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 SERIAL_CONTROL UNPACKING
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/**
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* @brief Get field device from serial_control message
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*
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* @return Serial control device type.
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*/
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static inline uint8_t mavlink_msg_serial_control_get_device(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 6);
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}
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/**
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* @brief Get field flags from serial_control message
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*
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* @return Bitmap of serial control flags.
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*/
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static inline uint8_t mavlink_msg_serial_control_get_flags(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 7);
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}
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/**
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* @brief Get field timeout from serial_control message
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*
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* @return [ms] Timeout for reply data
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*/
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static inline uint16_t mavlink_msg_serial_control_get_timeout(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 4);
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}
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/**
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* @brief Get field baudrate from serial_control message
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*
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* @return [bits/s] Baudrate of transfer. Zero means no change.
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*/
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static inline uint32_t mavlink_msg_serial_control_get_baudrate(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field count from serial_control message
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*
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* @return [bytes] how many bytes in this transfer
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*/
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static inline uint8_t mavlink_msg_serial_control_get_count(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Get field data from serial_control message
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*
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* @return serial data
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*/
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static inline uint16_t mavlink_msg_serial_control_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, 70, 9);
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}
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/**
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* @brief Decode a serial_control message into a struct
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*
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* @param msg The message to decode
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* @param serial_control C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_serial_control_decode(const mavlink_message_t* msg, mavlink_serial_control_t* serial_control)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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serial_control->baudrate = mavlink_msg_serial_control_get_baudrate(msg);
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serial_control->timeout = mavlink_msg_serial_control_get_timeout(msg);
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serial_control->device = mavlink_msg_serial_control_get_device(msg);
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serial_control->flags = mavlink_msg_serial_control_get_flags(msg);
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serial_control->count = mavlink_msg_serial_control_get_count(msg);
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mavlink_msg_serial_control_get_data(msg, serial_control->data);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_SERIAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_SERIAL_CONTROL_LEN;
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memset(serial_control, 0, MAVLINK_MSG_ID_SERIAL_CONTROL_LEN);
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memcpy(serial_control, _MAV_PAYLOAD(msg), len);
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#endif
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}
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