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Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_param_value.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_param_value.h | 297 |
1 files changed, 297 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_param_value.h b/ext/mavlink/include/mavlink/common/mavlink_msg_param_value.h new file mode 100644 index 0000000..c279579 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_param_value.h @@ -0,0 +1,297 @@ +// MESSAGE PARAM_VALUE PACKING + +#define MAVLINK_MSG_ID_PARAM_VALUE 22 + +typedef struct __mavlink_param_value_t +{ + float param_value; ///< Onboard parameter value + uint16_t param_count; ///< Total number of onboard parameters + uint16_t param_index; ///< Index of this onboard parameter + char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string + uint8_t param_type; ///< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. +} mavlink_param_value_t; + +#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25 +#define MAVLINK_MSG_ID_22_LEN 25 + +#define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220 +#define MAVLINK_MSG_ID_22_CRC 220 + +#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16 + +#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \ + "PARAM_VALUE", \ + 5, \ + { { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \ + { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \ + { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \ + { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \ + { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \ + } \ +} + + +/** + * @brief Pack a param_value 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 param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string + * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + packet.param_type = param_type; + mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +} + +/** + * @brief Pack a param_value 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 param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string + * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + packet.param_type = param_type; + mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +} + +/** + * @brief Encode a param_value 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 param_value C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value) +{ + return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); +} + +/** + * @brief Encode a param_value 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 param_value C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value) +{ + return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index); +} + +/** + * @brief Send a param_value message + * @param chan MAVLink channel to send the message + * + * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string + * @param param_value Onboard parameter value + * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. + * @param param_count Total number of onboard parameters + * @param param_index Index of this onboard parameter + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN]; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +#else + mavlink_param_value_t packet; + packet.param_value = param_value; + packet.param_count = param_count; + packet.param_index = param_index; + packet.param_type = param_type; + mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_PARAM_VALUE_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_param_value_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_float(buf, 0, param_value); + _mav_put_uint16_t(buf, 4, param_count); + _mav_put_uint16_t(buf, 6, param_index); + _mav_put_uint8_t(buf, 24, param_type); + _mav_put_char_array(buf, 8, param_id, 16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +#else + mavlink_param_value_t *packet = (mavlink_param_value_t *)msgbuf; + packet->param_value = param_value; + packet->param_count = param_count; + packet->param_index = param_index; + packet->param_type = param_type; + mav_array_memcpy(packet->param_id, param_id, sizeof(char)*16); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE PARAM_VALUE UNPACKING + + +/** + * @brief Get field param_id from param_value message + * + * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string + */ +static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id) +{ + return _MAV_RETURN_char_array(msg, param_id, 16, 8); +} + +/** + * @brief Get field param_value from param_value message + * + * @return Onboard parameter value + */ +static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field param_type from param_value message + * + * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. + */ +static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 24); +} + +/** + * @brief Get field param_count from param_value message + * + * @return Total number of onboard parameters + */ +static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field param_index from param_value message + * + * @return Index of this onboard parameter + */ +static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Decode a param_value message into a struct + * + * @param msg The message to decode + * @param param_value C-struct to decode the message contents into + */ +static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value) +{ +#if MAVLINK_NEED_BYTE_SWAP + param_value->param_value = mavlink_msg_param_value_get_param_value(msg); + param_value->param_count = mavlink_msg_param_value_get_param_count(msg); + param_value->param_index = mavlink_msg_param_value_get_param_index(msg); + mavlink_msg_param_value_get_param_id(msg, param_value->param_id); + param_value->param_type = mavlink_msg_param_value_get_param_type(msg); +#else + memcpy(param_value, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_VALUE_LEN); +#endif +} |