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106 lines
3.1 KiB
106 lines
3.1 KiB
// MESSAGE BOOT PACKING |
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#define MAVLINK_MSG_ID_BOOT 1 |
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typedef struct __mavlink_boot_t |
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{ |
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uint32_t version; ///< The onboard software version |
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} mavlink_boot_t; |
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/** |
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* @brief Pack a boot 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 version The onboard software version |
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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_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t version) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_BOOT; |
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i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version |
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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/** |
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* @brief Pack a boot 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 chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param version The onboard software version |
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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_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_BOOT; |
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i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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/** |
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* @brief Encode a boot struct into a message |
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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 boot C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot) |
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{ |
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return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version); |
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} |
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/** |
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* @brief Send a boot message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param version The onboard software version |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE BOOT UNPACKING |
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/** |
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* @brief Get field version from boot message |
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* |
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* @return The onboard software version |
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*/ |
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static inline uint32_t mavlink_msg_boot_get_version(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)[0]; |
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r.b[2] = (msg->payload)[1]; |
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r.b[1] = (msg->payload)[2]; |
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r.b[0] = (msg->payload)[3]; |
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return (uint32_t)r.i; |
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} |
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/** |
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* @brief Decode a boot message into a struct |
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* |
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* @param msg The message to decode |
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* @param boot C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot) |
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{ |
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boot->version = mavlink_msg_boot_get_version(msg); |
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}
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