diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_system_time.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_system_time.h | 233 |
1 files changed, 233 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_system_time.h b/ext/mavlink/include/mavlink/common/mavlink_msg_system_time.h new file mode 100644 index 0000000..988c669 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_system_time.h @@ -0,0 +1,233 @@ +// MESSAGE SYSTEM_TIME PACKING + +#define MAVLINK_MSG_ID_SYSTEM_TIME 2 + +typedef struct __mavlink_system_time_t +{ + uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch. + uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds. +} mavlink_system_time_t; + +#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12 +#define MAVLINK_MSG_ID_2_LEN 12 + +#define MAVLINK_MSG_ID_SYSTEM_TIME_CRC 137 +#define MAVLINK_MSG_ID_2_CRC 137 + + + +#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \ + "SYSTEM_TIME", \ + 2, \ + { { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \ + { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \ + } \ +} + + +/** + * @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_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. + * @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_unix_usec, uint32_t time_boot_ms) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN]; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#else + mavlink_system_time_t packet; + packet.time_unix_usec = time_unix_usec; + packet.time_boot_ms = time_boot_ms; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +} + +/** + * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. + * @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_unix_usec,uint32_t time_boot_ms) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN]; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#else + mavlink_system_time_t packet; + packet.time_unix_usec = time_unix_usec; + packet.time_boot_ms = time_boot_ms; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +} + +/** + * @brief Encode a system_time 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 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_unix_usec, system_time->time_boot_ms); +} + +/** + * @brief Encode a system_time 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 system_time C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_system_time_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_system_time_t* system_time) +{ + return mavlink_msg_system_time_pack_chan(system_id, component_id, chan, msg, system_time->time_unix_usec, system_time->time_boot_ms); +} + +/** + * @brief Send a system_time message + * @param chan MAVLink channel to send the message + * + * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch. + * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN]; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +#else + mavlink_system_time_t packet; + packet.time_unix_usec = time_unix_usec; + packet.time_boot_ms = time_boot_ms; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_SYSTEM_TIME_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_system_time_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_unix_usec); + _mav_put_uint32_t(buf, 8, time_boot_ms); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +#else + mavlink_system_time_t *packet = (mavlink_system_time_t *)msgbuf; + packet->time_unix_usec = time_unix_usec; + packet->time_boot_ms = time_boot_ms; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE SYSTEM_TIME UNPACKING + + +/** + * @brief Get field time_unix_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_unix_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field time_boot_ms from system_time message + * + * @return Timestamp of the component clock since boot time in milliseconds. + */ +static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 8); +} + +/** + * @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) +{ +#if MAVLINK_NEED_BYTE_SWAP + system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg); + system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg); +#else + memcpy(system_time, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYSTEM_TIME_LEN); +#endif +} |