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添加MAVLINK协议库

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OPTOC
2025-09-02 10:34:06 +08:00
parent 7960bb80ec
commit 040ce2c62c
360 changed files with 143976 additions and 0 deletions
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238
app/drivers/sertrf/protocol/mavlinkv2/ardupilotmega/mavlink_msg_hwstatus.h Normal file
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#pragma once
// MESSAGE HWSTATUS PACKING
#define MAVLINK_MSG_ID_HWSTATUS 165
MAVPACKED(
typedef struct __mavlink_hwstatus_t {
uint16_t Vcc; /*< [mV] Board voltage.*/
uint8_t I2Cerr; /*< I2C error count.*/
}) mavlink_hwstatus_t;
#define MAVLINK_MSG_ID_HWSTATUS_LEN 3
#define MAVLINK_MSG_ID_HWSTATUS_MIN_LEN 3
#define MAVLINK_MSG_ID_165_LEN 3
#define MAVLINK_MSG_ID_165_MIN_LEN 3
#define MAVLINK_MSG_ID_HWSTATUS_CRC 21
#define MAVLINK_MSG_ID_165_CRC 21
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_HWSTATUS { \
165, \
"HWSTATUS", \
2, \
{ { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_hwstatus_t, Vcc) }, \
{ "I2Cerr", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_hwstatus_t, I2Cerr) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_HWSTATUS { \
"HWSTATUS", \
2, \
{ { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_hwstatus_t, Vcc) }, \
{ "I2Cerr", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_hwstatus_t, I2Cerr) }, \
} \
}
#endif
/**
* @brief Pack a hwstatus 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 Vcc [mV] Board voltage.
* @param I2Cerr I2C error count.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
}
/**
* @brief Pack a hwstatus 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 Vcc [mV] Board voltage.
* @param I2Cerr I2C error count.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint16_t Vcc,uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
}
/**
* @brief Encode a hwstatus 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 hwstatus C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hwstatus_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
{
return mavlink_msg_hwstatus_pack(system_id, component_id, msg, hwstatus->Vcc, hwstatus->I2Cerr);
}
/**
* @brief Encode a hwstatus 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 hwstatus C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hwstatus_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
{
return mavlink_msg_hwstatus_pack_chan(system_id, component_id, chan, msg, hwstatus->Vcc, hwstatus->I2Cerr);
}
/**
* @brief Send a hwstatus message
* @param chan MAVLink channel to send the message
*
* @param Vcc [mV] Board voltage.
* @param I2Cerr I2C error count.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
mavlink_hwstatus_t packet;
packet.Vcc = Vcc;
packet.I2Cerr = I2Cerr;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#endif
}
/**
* @brief Send a hwstatus message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_hwstatus_send_struct(mavlink_channel_t chan, const mavlink_hwstatus_t* hwstatus)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_hwstatus_send(chan, hwstatus->Vcc, hwstatus->I2Cerr);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)hwstatus, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#endif
}
#if MAVLINK_MSG_ID_HWSTATUS_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_hwstatus_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint16_t(buf, 0, Vcc);
_mav_put_uint8_t(buf, 2, I2Cerr);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#else
mavlink_hwstatus_t *packet = (mavlink_hwstatus_t *)msgbuf;
packet->Vcc = Vcc;
packet->I2Cerr = I2Cerr;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)packet, MAVLINK_MSG_ID_HWSTATUS_MIN_LEN, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
#endif
}
#endif
#endif
// MESSAGE HWSTATUS UNPACKING
/**
* @brief Get field Vcc from hwstatus message
*
* @return [mV] Board voltage.
*/
static inline uint16_t mavlink_msg_hwstatus_get_Vcc(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint16_t(msg, 0);
}
/**
* @brief Get field I2Cerr from hwstatus message
*
* @return I2C error count.
*/
static inline uint8_t mavlink_msg_hwstatus_get_I2Cerr(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
/**
* @brief Decode a hwstatus message into a struct
*
* @param msg The message to decode
* @param hwstatus C-struct to decode the message contents into
*/
static inline void mavlink_msg_hwstatus_decode(const mavlink_message_t* msg, mavlink_hwstatus_t* hwstatus)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
hwstatus->Vcc = mavlink_msg_hwstatus_get_Vcc(msg);
hwstatus->I2Cerr = mavlink_msg_hwstatus_get_I2Cerr(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_HWSTATUS_LEN? msg->len : MAVLINK_MSG_ID_HWSTATUS_LEN;
memset(hwstatus, 0, MAVLINK_MSG_ID_HWSTATUS_LEN);
memcpy(hwstatus, _MAV_PAYLOAD(msg), len);
#endif
}