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
364 lines
16 KiB
C
364 lines
16 KiB
C
#pragma once
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// MESSAGE VIBRATION PACKING
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#define MAVLINK_MSG_ID_VIBRATION 241
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MAVPACKED(
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typedef struct __mavlink_vibration_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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float vibration_x; /*< Vibration levels on X-axis*/
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float vibration_y; /*< Vibration levels on Y-axis*/
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float vibration_z; /*< Vibration levels on Z-axis*/
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uint32_t clipping_0; /*< first accelerometer clipping count*/
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uint32_t clipping_1; /*< second accelerometer clipping count*/
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uint32_t clipping_2; /*< third accelerometer clipping count*/
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}) mavlink_vibration_t;
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#define MAVLINK_MSG_ID_VIBRATION_LEN 32
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#define MAVLINK_MSG_ID_VIBRATION_MIN_LEN 32
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#define MAVLINK_MSG_ID_241_LEN 32
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#define MAVLINK_MSG_ID_241_MIN_LEN 32
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#define MAVLINK_MSG_ID_VIBRATION_CRC 90
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#define MAVLINK_MSG_ID_241_CRC 90
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_VIBRATION { \
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241, \
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"VIBRATION", \
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7, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vibration_t, time_usec) }, \
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{ "vibration_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vibration_t, vibration_x) }, \
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{ "vibration_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vibration_t, vibration_y) }, \
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{ "vibration_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vibration_t, vibration_z) }, \
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{ "clipping_0", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_vibration_t, clipping_0) }, \
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{ "clipping_1", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_vibration_t, clipping_1) }, \
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{ "clipping_2", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_vibration_t, clipping_2) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_VIBRATION { \
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"VIBRATION", \
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7, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vibration_t, time_usec) }, \
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{ "vibration_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vibration_t, vibration_x) }, \
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{ "vibration_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vibration_t, vibration_y) }, \
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{ "vibration_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vibration_t, vibration_z) }, \
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{ "clipping_0", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_vibration_t, clipping_0) }, \
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{ "clipping_1", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_vibration_t, clipping_1) }, \
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{ "clipping_2", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_vibration_t, clipping_2) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a vibration 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 time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param vibration_x Vibration levels on X-axis
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* @param vibration_y Vibration levels on Y-axis
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* @param vibration_z Vibration levels on Z-axis
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* @param clipping_0 first accelerometer clipping count
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* @param clipping_1 second accelerometer clipping count
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* @param clipping_2 third accelerometer clipping count
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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_vibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2)
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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_VIBRATION_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vibration_x);
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_mav_put_float(buf, 12, vibration_y);
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_mav_put_float(buf, 16, vibration_z);
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_mav_put_uint32_t(buf, 20, clipping_0);
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_mav_put_uint32_t(buf, 24, clipping_1);
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_mav_put_uint32_t(buf, 28, clipping_2);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VIBRATION_LEN);
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#else
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mavlink_vibration_t packet;
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packet.time_usec = time_usec;
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packet.vibration_x = vibration_x;
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packet.vibration_y = vibration_y;
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packet.vibration_z = vibration_z;
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packet.clipping_0 = clipping_0;
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packet.clipping_1 = clipping_1;
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packet.clipping_2 = clipping_2;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VIBRATION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VIBRATION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
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}
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/**
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* @brief Pack a vibration 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 time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param vibration_x Vibration levels on X-axis
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* @param vibration_y Vibration levels on Y-axis
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* @param vibration_z Vibration levels on Z-axis
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* @param clipping_0 first accelerometer clipping count
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* @param clipping_1 second accelerometer clipping count
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* @param clipping_2 third accelerometer clipping count
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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_vibration_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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uint64_t time_usec,float vibration_x,float vibration_y,float vibration_z,uint32_t clipping_0,uint32_t clipping_1,uint32_t clipping_2)
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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_VIBRATION_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vibration_x);
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_mav_put_float(buf, 12, vibration_y);
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_mav_put_float(buf, 16, vibration_z);
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_mav_put_uint32_t(buf, 20, clipping_0);
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_mav_put_uint32_t(buf, 24, clipping_1);
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_mav_put_uint32_t(buf, 28, clipping_2);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VIBRATION_LEN);
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#else
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mavlink_vibration_t packet;
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packet.time_usec = time_usec;
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packet.vibration_x = vibration_x;
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packet.vibration_y = vibration_y;
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packet.vibration_z = vibration_z;
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packet.clipping_0 = clipping_0;
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packet.clipping_1 = clipping_1;
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packet.clipping_2 = clipping_2;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VIBRATION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VIBRATION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
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}
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/**
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* @brief Encode a vibration 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 vibration C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_vibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vibration_t* vibration)
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{
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return mavlink_msg_vibration_pack(system_id, component_id, msg, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2);
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}
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/**
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* @brief Encode a vibration 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 vibration C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_vibration_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vibration_t* vibration)
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{
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return mavlink_msg_vibration_pack_chan(system_id, component_id, chan, msg, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2);
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}
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/**
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* @brief Send a vibration message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param vibration_x Vibration levels on X-axis
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* @param vibration_y Vibration levels on Y-axis
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* @param vibration_z Vibration levels on Z-axis
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* @param clipping_0 first accelerometer clipping count
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* @param clipping_1 second accelerometer clipping count
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* @param clipping_2 third accelerometer clipping count
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_vibration_send(mavlink_channel_t chan, uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2)
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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_VIBRATION_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vibration_x);
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_mav_put_float(buf, 12, vibration_y);
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_mav_put_float(buf, 16, vibration_z);
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_mav_put_uint32_t(buf, 20, clipping_0);
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_mav_put_uint32_t(buf, 24, clipping_1);
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_mav_put_uint32_t(buf, 28, clipping_2);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, buf, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
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#else
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mavlink_vibration_t packet;
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packet.time_usec = time_usec;
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packet.vibration_x = vibration_x;
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packet.vibration_y = vibration_y;
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packet.vibration_z = vibration_z;
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packet.clipping_0 = clipping_0;
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packet.clipping_1 = clipping_1;
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packet.clipping_2 = clipping_2;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)&packet, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
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#endif
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}
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/**
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* @brief Send a vibration 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_vibration_send_struct(mavlink_channel_t chan, const mavlink_vibration_t* vibration)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_vibration_send(chan, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)vibration, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_VIBRATION_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_vibration_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2)
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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_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vibration_x);
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_mav_put_float(buf, 12, vibration_y);
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_mav_put_float(buf, 16, vibration_z);
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_mav_put_uint32_t(buf, 20, clipping_0);
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_mav_put_uint32_t(buf, 24, clipping_1);
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_mav_put_uint32_t(buf, 28, clipping_2);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, buf, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC);
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#else
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mavlink_vibration_t *packet = (mavlink_vibration_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->vibration_x = vibration_x;
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packet->vibration_y = vibration_y;
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packet->vibration_z = vibration_z;
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packet->clipping_0 = clipping_0;
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packet->clipping_1 = clipping_1;
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packet->clipping_2 = clipping_2;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)packet, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_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 VIBRATION UNPACKING
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/**
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* @brief Get field time_usec from vibration message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint64_t mavlink_msg_vibration_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field vibration_x from vibration message
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*
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* @return Vibration levels on X-axis
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*/
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static inline float mavlink_msg_vibration_get_vibration_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field vibration_y from vibration message
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*
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* @return Vibration levels on Y-axis
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*/
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static inline float mavlink_msg_vibration_get_vibration_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field vibration_z from vibration message
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*
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* @return Vibration levels on Z-axis
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*/
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static inline float mavlink_msg_vibration_get_vibration_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field clipping_0 from vibration message
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*
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* @return first accelerometer clipping count
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*/
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static inline uint32_t mavlink_msg_vibration_get_clipping_0(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 20);
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}
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/**
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* @brief Get field clipping_1 from vibration message
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*
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* @return second accelerometer clipping count
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*/
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static inline uint32_t mavlink_msg_vibration_get_clipping_1(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 24);
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}
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/**
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* @brief Get field clipping_2 from vibration message
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*
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* @return third accelerometer clipping count
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*/
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static inline uint32_t mavlink_msg_vibration_get_clipping_2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 28);
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}
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/**
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* @brief Decode a vibration message into a struct
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*
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* @param msg The message to decode
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* @param vibration C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_vibration_decode(const mavlink_message_t* msg, mavlink_vibration_t* vibration)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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vibration->time_usec = mavlink_msg_vibration_get_time_usec(msg);
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vibration->vibration_x = mavlink_msg_vibration_get_vibration_x(msg);
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vibration->vibration_y = mavlink_msg_vibration_get_vibration_y(msg);
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vibration->vibration_z = mavlink_msg_vibration_get_vibration_z(msg);
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vibration->clipping_0 = mavlink_msg_vibration_get_clipping_0(msg);
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vibration->clipping_1 = mavlink_msg_vibration_get_clipping_1(msg);
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vibration->clipping_2 = mavlink_msg_vibration_get_clipping_2(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_VIBRATION_LEN? msg->len : MAVLINK_MSG_ID_VIBRATION_LEN;
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memset(vibration, 0, MAVLINK_MSG_ID_VIBRATION_LEN);
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memcpy(vibration, _MAV_PAYLOAD(msg), len);
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#endif
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}
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