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89 lines
2.5 KiB
89 lines
2.5 KiB
// MESSAGE DEBUG PACKING |
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#define MAVLINK_MSG_ID_DEBUG 255 |
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typedef struct __mavlink_debug_t |
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{ |
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uint8_t ind; ///< index of debug variable |
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float value; ///< DEBUG value |
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} mavlink_debug_t; |
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/** |
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* @brief Send a debug message |
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* |
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* @param ind index of debug variable |
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* @param value DEBUG 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_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t ind, float value) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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i += put_uint8_t_by_index(ind, i, msg->payload); //index of debug variable |
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i += put_float_by_index(value, i, msg->payload); //DEBUG value |
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t ind, float value) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_DEBUG; |
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i += put_uint8_t_by_index(ind, i, msg->payload); //index of debug variable |
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i += put_float_by_index(value, i, msg->payload); //DEBUG value |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug) |
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{ |
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return mavlink_msg_debug_pack(system_id, component_id, msg, debug->ind, debug->value); |
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} |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint8_t ind, float value) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_debug_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, ind, value); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE DEBUG UNPACKING |
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/** |
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* @brief Get field ind from debug message |
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* |
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* @return index of debug variable |
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*/ |
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static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload)[0]; |
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} |
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/** |
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* @brief Get field value from debug message |
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* |
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* @return DEBUG value |
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*/ |
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static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(uint8_t))[0]; |
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r.b[2] = (msg->payload+sizeof(uint8_t))[1]; |
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r.b[1] = (msg->payload+sizeof(uint8_t))[2]; |
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r.b[0] = (msg->payload+sizeof(uint8_t))[3]; |
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return (float)r.f; |
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} |
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static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug) |
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{ |
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debug->ind = mavlink_msg_debug_get_ind(msg); |
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debug->value = mavlink_msg_debug_get_value(msg); |
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}
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