diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h | 254 |
1 files changed, 254 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h new file mode 100644 index 000000000..698625b7e --- /dev/null +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h @@ -0,0 +1,254 @@ +// MESSAGE SET_CAM_SHUTTER PACKING + +#define MAVLINK_MSG_ID_SET_CAM_SHUTTER 151 + +typedef struct __mavlink_set_cam_shutter_t +{ + float gain; ///< Camera gain + uint16_t interval; ///< Shutter interval, in microseconds + uint16_t exposure; ///< Exposure time, in microseconds + uint8_t cam_no; ///< Camera id + uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual + uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly +} mavlink_set_cam_shutter_t; + +#define MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN 11 +#define MAVLINK_MSG_ID_151_LEN 11 + + + +#define MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER { \ + "SET_CAM_SHUTTER", \ + 6, \ + { { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_cam_shutter_t, gain) }, \ + { "interval", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_cam_shutter_t, interval) }, \ + { "exposure", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_cam_shutter_t, exposure) }, \ + { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_cam_shutter_t, cam_no) }, \ + { "cam_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_set_cam_shutter_t, cam_mode) }, \ + { "trigger_pin", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_set_cam_shutter_t, trigger_pin) }, \ + } \ +} + + +/** + * @brief Pack a set_cam_shutter 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 cam_no Camera id + * @param cam_mode Camera mode: 0 = auto, 1 = manual + * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly + * @param interval Shutter interval, in microseconds + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.gain = gain; + packet.interval = interval; + packet.exposure = exposure; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; + return mavlink_finalize_message(msg, system_id, component_id, 11, 108); +} + +/** + * @brief Pack a set_cam_shutter 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 msg The MAVLink message to compress the data into + * @param cam_no Camera id + * @param cam_mode Camera mode: 0 = auto, 1 = manual + * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly + * @param interval Shutter interval, in microseconds + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t cam_no,uint8_t cam_mode,uint8_t trigger_pin,uint16_t interval,uint16_t exposure,float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 11); +#else + mavlink_set_cam_shutter_t packet; + packet.gain = gain; + packet.interval = interval; + packet.exposure = exposure; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 11); +#endif + + msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 11, 108); +} + +/** + * @brief Encode a set_cam_shutter 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 set_cam_shutter C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter) +{ + return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain); +} + +/** + * @brief Send a set_cam_shutter message + * @param chan MAVLink channel to send the message + * + * @param cam_no Camera id + * @param cam_mode Camera mode: 0 = auto, 1 = manual + * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly + * @param interval Shutter interval, in microseconds + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[11]; + _mav_put_float(buf, 0, gain); + _mav_put_uint16_t(buf, 4, interval); + _mav_put_uint16_t(buf, 6, exposure); + _mav_put_uint8_t(buf, 8, cam_no); + _mav_put_uint8_t(buf, 9, cam_mode); + _mav_put_uint8_t(buf, 10, trigger_pin); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, 11, 108); +#else + mavlink_set_cam_shutter_t packet; + packet.gain = gain; + packet.interval = interval; + packet.exposure = exposure; + packet.cam_no = cam_no; + packet.cam_mode = cam_mode; + packet.trigger_pin = trigger_pin; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)&packet, 11, 108); +#endif +} + +#endif + +// MESSAGE SET_CAM_SHUTTER UNPACKING + + +/** + * @brief Get field cam_no from set_cam_shutter message + * + * @return Camera id + */ +static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 8); +} + +/** + * @brief Get field cam_mode from set_cam_shutter message + * + * @return Camera mode: 0 = auto, 1 = manual + */ +static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 9); +} + +/** + * @brief Get field trigger_pin from set_cam_shutter message + * + * @return Trigger pin, 0-3 for PtGrey FireFly + */ +static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 10); +} + +/** + * @brief Get field interval from set_cam_shutter message + * + * @return Shutter interval, in microseconds + */ +static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field exposure from set_cam_shutter message + * + * @return Exposure time, in microseconds + */ +static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 6); +} + +/** + * @brief Get field gain from set_cam_shutter message + * + * @return Camera gain + */ +static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Decode a set_cam_shutter message into a struct + * + * @param msg The message to decode + * @param set_cam_shutter C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter) +{ +#if MAVLINK_NEED_BYTE_SWAP + set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg); + set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg); + set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg); + set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg); + set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg); + set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg); +#else + memcpy(set_cam_shutter, _MAV_PAYLOAD(msg), 11); +#endif +} |