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
264 lines
11 KiB
C
264 lines
11 KiB
C
#pragma once
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// MESSAGE VOLT_SENSOR PACKING
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#define MAVLINK_MSG_ID_VOLT_SENSOR 191
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MAVPACKED(
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typedef struct __mavlink_volt_sensor_t {
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uint16_t voltage; /*< Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V */
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uint16_t reading2; /*< Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value*/
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uint8_t r2Type; /*< It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM*/
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}) mavlink_volt_sensor_t;
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#define MAVLINK_MSG_ID_VOLT_SENSOR_LEN 5
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#define MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN 5
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#define MAVLINK_MSG_ID_191_LEN 5
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#define MAVLINK_MSG_ID_191_MIN_LEN 5
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#define MAVLINK_MSG_ID_VOLT_SENSOR_CRC 17
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#define MAVLINK_MSG_ID_191_CRC 17
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_VOLT_SENSOR { \
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191, \
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"VOLT_SENSOR", \
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3, \
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{ { "r2Type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_volt_sensor_t, r2Type) }, \
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{ "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_volt_sensor_t, voltage) }, \
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{ "reading2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_volt_sensor_t, reading2) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_VOLT_SENSOR { \
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"VOLT_SENSOR", \
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3, \
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{ { "r2Type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_volt_sensor_t, r2Type) }, \
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{ "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_volt_sensor_t, voltage) }, \
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{ "reading2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_volt_sensor_t, reading2) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a volt_sensor 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 r2Type It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM
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* @param voltage Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V
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* @param reading2 Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value
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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_volt_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t r2Type, uint16_t voltage, uint16_t reading2)
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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_VOLT_SENSOR_LEN];
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_mav_put_uint16_t(buf, 0, voltage);
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_mav_put_uint16_t(buf, 2, reading2);
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_mav_put_uint8_t(buf, 4, r2Type);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VOLT_SENSOR_LEN);
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#else
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mavlink_volt_sensor_t packet;
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packet.voltage = voltage;
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packet.reading2 = reading2;
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packet.r2Type = r2Type;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VOLT_SENSOR_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VOLT_SENSOR;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_CRC);
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}
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/**
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* @brief Pack a volt_sensor 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 r2Type It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM
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* @param voltage Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V
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* @param reading2 Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value
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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_volt_sensor_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 r2Type,uint16_t voltage,uint16_t reading2)
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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_VOLT_SENSOR_LEN];
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_mav_put_uint16_t(buf, 0, voltage);
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_mav_put_uint16_t(buf, 2, reading2);
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_mav_put_uint8_t(buf, 4, r2Type);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VOLT_SENSOR_LEN);
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#else
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mavlink_volt_sensor_t packet;
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packet.voltage = voltage;
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packet.reading2 = reading2;
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packet.r2Type = r2Type;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VOLT_SENSOR_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VOLT_SENSOR;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_CRC);
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}
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/**
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* @brief Encode a volt_sensor 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 volt_sensor C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_volt_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_volt_sensor_t* volt_sensor)
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{
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return mavlink_msg_volt_sensor_pack(system_id, component_id, msg, volt_sensor->r2Type, volt_sensor->voltage, volt_sensor->reading2);
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}
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/**
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* @brief Encode a volt_sensor 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 volt_sensor C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_volt_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_volt_sensor_t* volt_sensor)
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{
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return mavlink_msg_volt_sensor_pack_chan(system_id, component_id, chan, msg, volt_sensor->r2Type, volt_sensor->voltage, volt_sensor->reading2);
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}
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/**
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* @brief Send a volt_sensor message
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* @param chan MAVLink channel to send the message
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*
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* @param r2Type It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM
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* @param voltage Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V
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* @param reading2 Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_volt_sensor_send(mavlink_channel_t chan, uint8_t r2Type, uint16_t voltage, uint16_t reading2)
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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_VOLT_SENSOR_LEN];
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_mav_put_uint16_t(buf, 0, voltage);
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_mav_put_uint16_t(buf, 2, reading2);
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_mav_put_uint8_t(buf, 4, r2Type);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VOLT_SENSOR, buf, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_CRC);
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#else
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mavlink_volt_sensor_t packet;
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packet.voltage = voltage;
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packet.reading2 = reading2;
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packet.r2Type = r2Type;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VOLT_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_CRC);
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#endif
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}
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/**
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* @brief Send a volt_sensor 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_volt_sensor_send_struct(mavlink_channel_t chan, const mavlink_volt_sensor_t* volt_sensor)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_volt_sensor_send(chan, volt_sensor->r2Type, volt_sensor->voltage, volt_sensor->reading2);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VOLT_SENSOR, (const char *)volt_sensor, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_VOLT_SENSOR_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_volt_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t r2Type, uint16_t voltage, uint16_t reading2)
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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_uint16_t(buf, 0, voltage);
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_mav_put_uint16_t(buf, 2, reading2);
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_mav_put_uint8_t(buf, 4, r2Type);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VOLT_SENSOR, buf, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_CRC);
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#else
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mavlink_volt_sensor_t *packet = (mavlink_volt_sensor_t *)msgbuf;
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packet->voltage = voltage;
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packet->reading2 = reading2;
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packet->r2Type = r2Type;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VOLT_SENSOR, (const char *)packet, MAVLINK_MSG_ID_VOLT_SENSOR_MIN_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_LEN, MAVLINK_MSG_ID_VOLT_SENSOR_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 VOLT_SENSOR UNPACKING
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/**
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* @brief Get field r2Type from volt_sensor message
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*
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* @return It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM
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*/
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static inline uint8_t mavlink_msg_volt_sensor_get_r2Type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field voltage from volt_sensor message
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*
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* @return Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V
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*/
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static inline uint16_t mavlink_msg_volt_sensor_get_voltage(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 0);
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}
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/**
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* @brief Get field reading2 from volt_sensor message
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*
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* @return Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value
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*/
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static inline uint16_t mavlink_msg_volt_sensor_get_reading2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 2);
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}
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/**
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* @brief Decode a volt_sensor message into a struct
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*
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* @param msg The message to decode
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* @param volt_sensor C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_volt_sensor_decode(const mavlink_message_t* msg, mavlink_volt_sensor_t* volt_sensor)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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volt_sensor->voltage = mavlink_msg_volt_sensor_get_voltage(msg);
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volt_sensor->reading2 = mavlink_msg_volt_sensor_get_reading2(msg);
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volt_sensor->r2Type = mavlink_msg_volt_sensor_get_r2Type(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_VOLT_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_VOLT_SENSOR_LEN;
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memset(volt_sensor, 0, MAVLINK_MSG_ID_VOLT_SENSOR_LEN);
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memcpy(volt_sensor, _MAV_PAYLOAD(msg), len);
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#endif
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}
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