diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h | 36 |
1 files changed, 36 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h index 1cf5d15e4..48641f3eb 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h @@ -173,6 +173,42 @@ static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id #endif } +#if MAVLINK_MSG_ID_LOG_DATA_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_log_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, ofs); + _mav_put_uint16_t(buf, 4, id); + _mav_put_uint8_t(buf, 6, count); + _mav_put_uint8_t_array(buf, 7, data, 90); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +#else + mavlink_log_data_t *packet = (mavlink_log_data_t *)msgbuf; + packet->ofs = ofs; + packet->id = id; + packet->count = count; + mav_array_memcpy(packet->data, data, sizeof(uint8_t)*90); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)packet, MAVLINK_MSG_ID_LOG_DATA_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE LOG_DATA UNPACKING |