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GCS_MAVLink: rebuild MAVLink headers

mission-4.1.18
Andrew Tridgell 11 years ago
parent
67e1b66757
commit
11025c8da9
6 changed files with 291 additions and 6 deletions
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  1. 7
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
  2. 233
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_battery2.h
  3. 46
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
  4. 2
      libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
  5. 2
      libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
  6. 7
      libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h

7
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
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233
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_battery2.h
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@ -0,0 +1,233 @@ @@ -0,0 +1,233 @@
// MESSAGE BATTERY2 PACKING
#define MAVLINK_MSG_ID_BATTERY2 181
typedef struct __mavlink_battery2_t
{
uint16_t voltage; ///< voltage in millivolts
int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
} mavlink_battery2_t;
#define MAVLINK_MSG_ID_BATTERY2_LEN 4
#define MAVLINK_MSG_ID_181_LEN 4
#define MAVLINK_MSG_ID_BATTERY2_CRC 174
#define MAVLINK_MSG_ID_181_CRC 174
#define MAVLINK_MESSAGE_INFO_BATTERY2 { \
"BATTERY2", \
2, \
{ { "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery2_t, voltage) }, \
{ "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_battery2_t, current_battery) }, \
} \
}
/**
* @brief Pack a battery2 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 voltage voltage in millivolts
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t voltage, int16_t current_battery)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
_mav_put_uint16_t(buf, 0, voltage);
_mav_put_int16_t(buf, 2, current_battery);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
#else
mavlink_battery2_t packet;
packet.voltage = voltage;
packet.current_battery = current_battery;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY2;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
}
/**
* @brief Pack a battery2 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 voltage voltage in millivolts
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_battery2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t voltage,int16_t current_battery)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
_mav_put_uint16_t(buf, 0, voltage);
_mav_put_int16_t(buf, 2, current_battery);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
#else
mavlink_battery2_t packet;
packet.voltage = voltage;
packet.current_battery = current_battery;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_BATTERY2;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
}
/**
* @brief Encode a battery2 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 battery2 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_battery2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
{
return mavlink_msg_battery2_pack(system_id, component_id, msg, battery2->voltage, battery2->current_battery);
}
/**
* @brief Encode a battery2 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 battery2 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_battery2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
{
return mavlink_msg_battery2_pack_chan(system_id, component_id, chan, msg, battery2->voltage, battery2->current_battery);
}
/**
* @brief Send a battery2 message
* @param chan MAVLink channel to send the message
*
* @param voltage voltage in millivolts
* @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_battery2_send(mavlink_channel_t chan, uint16_t voltage, int16_t current_battery)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
_mav_put_uint16_t(buf, 0, voltage);
_mav_put_int16_t(buf, 2, current_battery);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
#else
mavlink_battery2_t packet;
packet.voltage = voltage;
packet.current_battery = current_battery;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)&packet, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)&packet, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_BATTERY2_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_battery2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t voltage, int16_t current_battery)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, voltage);
_mav_put_int16_t(buf, 2, current_battery);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
#else
mavlink_battery2_t *packet = (mavlink_battery2_t *)msgbuf;
packet->voltage = voltage;
packet->current_battery = current_battery;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)packet, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)packet, MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE BATTERY2 UNPACKING
/**
* @brief Get field voltage from battery2 message
*
* @return voltage in millivolts
*/
static inline uint16_t mavlink_msg_battery2_get_voltage(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field current_battery from battery2 message
*
* @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
*/
static inline int16_t mavlink_msg_battery2_get_current_battery(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 2);
}
/**
* @brief Decode a battery2 message into a struct
*
* @param msg The message to decode
* @param battery2 C-struct to decode the message contents into
*/
static inline void mavlink_msg_battery2_decode(const mavlink_message_t* msg, mavlink_battery2_t* battery2)
{
#if MAVLINK_NEED_BYTE_SWAP
battery2->voltage = mavlink_msg_battery2_get_voltage(msg);
battery2->current_battery = mavlink_msg_battery2_get_current_battery(msg);
#else
memcpy(battery2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BATTERY2_LEN);
#endif
}

46
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/testsuite.h
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@ -1630,6 +1630,51 @@ static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id @@ -1630,6 +1630,51 @@ static void mavlink_test_camera_feedback(uint8_t system_id, uint8_t component_id
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_battery2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_battery2_t packet_in = {
17235,
}17339,
};
mavlink_battery2_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
packet1.voltage = packet_in.voltage;
packet1.current_battery = packet_in.current_battery;
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery2_encode(system_id, component_id, &msg, &packet1);
mavlink_msg_battery2_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery2_pack(system_id, component_id, &msg , packet1.voltage , packet1.current_battery );
mavlink_msg_battery2_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.voltage , packet1.current_battery );
mavlink_msg_battery2_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_to_send_buffer(buffer, &msg);
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
}
mavlink_msg_battery2_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_battery2_send(MAVLINK_COMM_1 , packet1.voltage , packet1.current_battery );
mavlink_msg_battery2_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
@ -1662,6 +1707,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, @@ -1662,6 +1707,7 @@ static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id,
mavlink_test_ahrs2(system_id, component_id, last_msg);
mavlink_test_camera_status(system_id, component_id, last_msg);
mavlink_test_camera_feedback(system_id, component_id, last_msg);
mavlink_test_battery2(system_id, component_id, last_msg);
}
#ifdef __cplusplus

2
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
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@ -5,7 +5,7 @@ @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 7 12:21:20 2014"
#define MAVLINK_BUILD_DATE "Sat Aug 9 12:12:21 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

2
libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
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@ -5,7 +5,7 @@ @@ -5,7 +5,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Thu Aug 7 12:21:20 2014"
#define MAVLINK_BUILD_DATE "Sat Aug 9 12:12:21 2014"
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255

7
libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
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@ -209,13 +209,18 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) @@ -209,13 +209,18 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
* it could be successfully decoded. Checksum and other failures will be silently
* ignored.
*
* Messages are parsed into an internal buffer (one for each channel). When a complete
* message is received it is copies into *returnMsg and the channel's status is
* copied into *returnStats.
*
* @param chan ID of the current channel. This allows to parse different channels with this function.
* a channel is not a physical message channel like a serial port, but a logic partition of
* the communication streams in this case. COMM_NB is the limit for the number of channels
* on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
* @param c The char to barse
* @param c The char to parse
*
* @param returnMsg NULL if no message could be decoded, the message data else
* @param returnStats if a message was decoded, this is filled with the channel's stats
* @return 0 if no message could be decoded, 1 else
*
* A typical use scenario of this function call is:

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