zr-v4/libraries/GCS_MAVLink/include/common/mavlink_msg_system_time.h

// MESSAGE SYSTEM_TIME PACKING

#define MAVLINK_MSG_ID_SYSTEM_TIME 2

typedef struct __mavlink_system_time_t 
{
	uint64_t time_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.

} mavlink_system_time_t;



/**
 * @brief Pack a system_time 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 time_usec Timestamp of the master clock in microseconds since UNIX epoch.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;

	i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch.

	return mavlink_finalize_message(msg, system_id, component_id, i);
}

/**
 * @brief Pack a system_time message
 * @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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec)
{
	uint16_t i = 0;
	msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;

	i += put_uint64_t_by_index(time_usec, i, msg->payload); // Timestamp of the master clock in microseconds since UNIX epoch.

	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}

/**
 * @brief Encode a system_time struct into a 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 system_time C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
{
	return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_usec);
}

/**
 * @brief Send a system_time message
 * @param chan MAVLink channel to send the message
 *
 * @param time_usec Timestamp of the master clock in microseconds since UNIX epoch.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_usec)
{
	mavlink_message_t msg;
	mavlink_msg_system_time_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time_usec);
	mavlink_send_uart(chan, &msg);
}

#endif
// MESSAGE SYSTEM_TIME UNPACKING

/**
 * @brief Get field time_usec from system_time message
 *
 * @return Timestamp of the master clock in microseconds since UNIX epoch.
 */
static inline uint64_t mavlink_msg_system_time_get_time_usec(const mavlink_message_t* msg)
{
	generic_64bit r;
	r.b[7] = (msg->payload)[0];
	r.b[6] = (msg->payload)[1];
	r.b[5] = (msg->payload)[2];
	r.b[4] = (msg->payload)[3];
	r.b[3] = (msg->payload)[4];
	r.b[2] = (msg->payload)[5];
	r.b[1] = (msg->payload)[6];
	r.b[0] = (msg->payload)[7];
	return (uint64_t)r.ll;
}

/**
 * @brief Decode a system_time message into a struct
 *
 * @param msg The message to decode
 * @param system_time C-struct to decode the message contents into
 */
static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
{
	system_time->time_usec = mavlink_msg_system_time_get_time_usec(msg);
}