diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h | 61 |
1 files changed, 47 insertions, 14 deletions
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h index df0821c87..cffc7d7e7 100644 --- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h +++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h @@ -12,6 +12,9 @@ typedef struct __mavlink_data96_t #define MAVLINK_MSG_ID_DATA96_LEN 98 #define MAVLINK_MSG_ID_172_LEN 98 +#define MAVLINK_MSG_ID_DATA96_CRC 22 +#define MAVLINK_MSG_ID_172_CRC 22 + #define MAVLINK_MSG_DATA96_FIELD_DATA_LEN 96 #define MAVLINK_MESSAGE_INFO_DATA96 { \ @@ -39,28 +42,32 @@ static inline uint16_t mavlink_msg_data96_pack(uint8_t system_id, uint8_t compon uint8_t type, uint8_t len, const uint8_t *data) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[98]; + char buf[MAVLINK_MSG_ID_DATA96_LEN]; _mav_put_uint8_t(buf, 0, type); _mav_put_uint8_t(buf, 1, len); _mav_put_uint8_t_array(buf, 2, data, 96); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN); #else mavlink_data96_t packet; packet.type = type; packet.len = len; mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN); #endif msg->msgid = MAVLINK_MSG_ID_DATA96; - return mavlink_finalize_message(msg, system_id, component_id, 98, 22); +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_LEN); +#endif } /** * @brief Pack a data96 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 was sent over + * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param type data type * @param len data length @@ -72,25 +79,29 @@ static inline uint16_t mavlink_msg_data96_pack_chan(uint8_t system_id, uint8_t c uint8_t type,uint8_t len,const uint8_t *data) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[98]; + char buf[MAVLINK_MSG_ID_DATA96_LEN]; _mav_put_uint8_t(buf, 0, type); _mav_put_uint8_t(buf, 1, len); _mav_put_uint8_t_array(buf, 2, data, 96); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 98); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA96_LEN); #else mavlink_data96_t packet; packet.type = type; packet.len = len; mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 98); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA96_LEN); #endif msg->msgid = MAVLINK_MSG_ID_DATA96; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 98, 22); +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_LEN); +#endif } /** - * @brief Encode a data96 struct into a message + * @brief Encode a data96 struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) @@ -103,6 +114,20 @@ static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t comp } /** + * @brief Encode a data96 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 data96 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data96_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data96_t* data96) +{ + return mavlink_msg_data96_pack_chan(system_id, component_id, chan, msg, data96->type, data96->len, data96->data); +} + +/** * @brief Send a data96 message * @param chan MAVLink channel to send the message * @@ -115,17 +140,25 @@ static inline uint16_t mavlink_msg_data96_encode(uint8_t system_id, uint8_t comp static inline void mavlink_msg_data96_send(mavlink_channel_t chan, uint8_t type, uint8_t len, const uint8_t *data) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[98]; + char buf[MAVLINK_MSG_ID_DATA96_LEN]; _mav_put_uint8_t(buf, 0, type); _mav_put_uint8_t(buf, 1, len); _mav_put_uint8_t_array(buf, 2, data, 96); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, 98, 22); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN); +#endif #else mavlink_data96_t packet; packet.type = type; packet.len = len; mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96); - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, 98, 22); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_LEN); +#endif #endif } @@ -177,6 +210,6 @@ static inline void mavlink_msg_data96_decode(const mavlink_message_t* msg, mavli data96->len = mavlink_msg_data96_get_len(msg); mavlink_msg_data96_get_data(msg, data96->data); #else - memcpy(data96, _MAV_PAYLOAD(msg), 98); + memcpy(data96, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA96_LEN); #endif } |