添加MAVLINK协议库

2025-09-02 10:34:06 +08:00
parent 7960bb80ec
commit 040ce2c62c
360 changed files with 143976 additions and 0 deletions
--- a/app/drivers/sertrf/protocol/mavlinkv2/ardupilotmega/mavlink_msg_battery2.h
+++ b/app/drivers/sertrf/protocol/mavlinkv2/ardupilotmega/mavlink_msg_battery2.h
@@ -0,0 +1,238 @@
+#pragma once
+// MESSAGE BATTERY2 PACKING
+
+#define MAVLINK_MSG_ID_BATTERY2 181
+
+MAVPACKED(
+typedef struct __mavlink_battery2_t {
+ uint16_t voltage; /*< [mV] Voltage.*/
+ int16_t current_battery; /*< [cA] Battery current, -1: autopilot does not measure the current.*/
+}) mavlink_battery2_t;
+
+#define MAVLINK_MSG_ID_BATTERY2_LEN 4
+#define MAVLINK_MSG_ID_BATTERY2_MIN_LEN 4
+#define MAVLINK_MSG_ID_181_LEN 4
+#define MAVLINK_MSG_ID_181_MIN_LEN 4
+
+#define MAVLINK_MSG_ID_BATTERY2_CRC 174
+#define MAVLINK_MSG_ID_181_CRC 174
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_BATTERY2 { \
+    181, \
+    "BATTERY2", \
+    2, \
+    {  { "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery2_t, voltage) }, \
+         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_battery2_t, current_battery) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_BATTERY2 { \
+    "BATTERY2", \
+    2, \
+    {  { "voltage", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery2_t, voltage) }, \
+         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_battery2_t, current_battery) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a battery2 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 voltage [mV] Voltage.
+ * @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_battery2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint16_t voltage, int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
+    _mav_put_uint16_t(buf, 0, voltage);
+    _mav_put_int16_t(buf, 2, current_battery);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
+#else
+    mavlink_battery2_t packet;
+    packet.voltage = voltage;
+    packet.current_battery = current_battery;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_BATTERY2;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+}
+
+/**
+ * @brief Pack a battery2 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 voltage [mV] Voltage.
+ * @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_battery2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint16_t voltage,int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
+    _mav_put_uint16_t(buf, 0, voltage);
+    _mav_put_int16_t(buf, 2, current_battery);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY2_LEN);
+#else
+    mavlink_battery2_t packet;
+    packet.voltage = voltage;
+    packet.current_battery = current_battery;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY2_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_BATTERY2;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+}
+
+/**
+ * @brief Encode a battery2 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 battery2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_battery2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
+{
+    return mavlink_msg_battery2_pack(system_id, component_id, msg, battery2->voltage, battery2->current_battery);
+}
+
+/**
+ * @brief Encode a battery2 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 battery2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_battery2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery2_t* battery2)
+{
+    return mavlink_msg_battery2_pack_chan(system_id, component_id, chan, msg, battery2->voltage, battery2->current_battery);
+}
+
+/**
+ * @brief Send a battery2 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param voltage [mV] Voltage.
+ * @param current_battery [cA] Battery current, -1: autopilot does not measure the current.
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_battery2_send(mavlink_channel_t chan, uint16_t voltage, int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_BATTERY2_LEN];
+    _mav_put_uint16_t(buf, 0, voltage);
+    _mav_put_int16_t(buf, 2, current_battery);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    mavlink_battery2_t packet;
+    packet.voltage = voltage;
+    packet.current_battery = current_battery;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)&packet, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#endif
+}
+
+/**
+ * @brief Send a battery2 message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_battery2_send_struct(mavlink_channel_t chan, const mavlink_battery2_t* battery2)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_battery2_send(chan, battery2->voltage, battery2->current_battery);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)battery2, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_BATTERY2_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_battery2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t voltage, int16_t current_battery)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint16_t(buf, 0, voltage);
+    _mav_put_int16_t(buf, 2, current_battery);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, buf, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#else
+    mavlink_battery2_t *packet = (mavlink_battery2_t *)msgbuf;
+    packet->voltage = voltage;
+    packet->current_battery = current_battery;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY2, (const char *)packet, MAVLINK_MSG_ID_BATTERY2_MIN_LEN, MAVLINK_MSG_ID_BATTERY2_LEN, MAVLINK_MSG_ID_BATTERY2_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE BATTERY2 UNPACKING
+
+
+/**
+ * @brief Get field voltage from battery2 message
+ *
+ * @return [mV] Voltage.
+ */
+static inline uint16_t mavlink_msg_battery2_get_voltage(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field current_battery from battery2 message
+ *
+ * @return [cA] Battery current, -1: autopilot does not measure the current.
+ */
+static inline int16_t mavlink_msg_battery2_get_current_battery(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  2);
+}
+
+/**
+ * @brief Decode a battery2 message into a struct
+ *
+ * @param msg The message to decode
+ * @param battery2 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_battery2_decode(const mavlink_message_t* msg, mavlink_battery2_t* battery2)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    battery2->voltage = mavlink_msg_battery2_get_voltage(msg);
+    battery2->current_battery = mavlink_msg_battery2_get_current_battery(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_BATTERY2_LEN? msg->len : MAVLINK_MSG_ID_BATTERY2_LEN;
+        memset(battery2, 0, MAVLINK_MSG_ID_BATTERY2_LEN);
+    memcpy(battery2, _MAV_PAYLOAD(msg), len);
+#endif
+}