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添加MAVLINK协议库

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2025-09-02 10:34:06 +08:00
parent 7960bb80ec
commit 040ce2c62c
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288
app/drivers/sertrf/protocol/mavlinkv2/common/mavlink_msg_ping.h Normal file
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#pragma once
// MESSAGE PING PACKING
#define MAVLINK_MSG_ID_PING 4
MAVPACKED(
typedef struct __mavlink_ping_t {
uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
uint32_t seq; /*< PING sequence*/
uint8_t target_system; /*< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system*/
uint8_t target_component; /*< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system*/
}) mavlink_ping_t;
#define MAVLINK_MSG_ID_PING_LEN 14
#define MAVLINK_MSG_ID_PING_MIN_LEN 14
#define MAVLINK_MSG_ID_4_LEN 14
#define MAVLINK_MSG_ID_4_MIN_LEN 14
#define MAVLINK_MSG_ID_PING_CRC 237
#define MAVLINK_MSG_ID_4_CRC 237
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_PING { \
4, \
"PING", \
4, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
{ "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_PING { \
"PING", \
4, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
{ "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
} \
}
#endif
/**
* @brief Pack a ping 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
* @param seq PING sequence
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_PING_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 8, seq);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
#else
mavlink_ping_t packet;
packet.time_usec = time_usec;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_PING;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
}
/**
* @brief Pack a ping 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
* @param seq PING sequence
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_PING_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 8, seq);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
#else
mavlink_ping_t packet;
packet.time_usec = time_usec;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_PING;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
}
/**
* @brief Encode a ping 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 ping C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
{
return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
}
/**
* @brief Encode a ping 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 ping C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ping_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ping_t* ping)
{
return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
}
/**
* @brief Send a ping message
* @param chan MAVLink channel to send the message
*
* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
* @param seq PING sequence
* @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
* @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_PING_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 8, seq);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
#else
mavlink_ping_t packet;
packet.time_usec = time_usec;
packet.seq = seq;
packet.target_system = target_system;
packet.target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
#endif
}
/**
* @brief Send a ping message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_ping_send_struct(mavlink_channel_t chan, const mavlink_ping_t* ping)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_ping_send(chan, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)ping, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
#endif
}
#if MAVLINK_MSG_ID_PING_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_ping_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_uint32_t(buf, 8, seq);
_mav_put_uint8_t(buf, 12, target_system);
_mav_put_uint8_t(buf, 13, target_component);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
#else
mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf;
packet->time_usec = time_usec;
packet->seq = seq;
packet->target_system = target_system;
packet->target_component = target_component;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
#endif
}
#endif
#endif
// MESSAGE PING UNPACKING
/**
* @brief Get field time_usec from ping message
*
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
*/
static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field seq from ping message
*
* @return PING sequence
*/
static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 8);
}
/**
* @brief Get field target_system from ping message
*
* @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
*/
static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 12);
}
/**
* @brief Get field target_component from ping message
*
* @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
*/
static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 13);
}
/**
* @brief Decode a ping message into a struct
*
* @param msg The message to decode
* @param ping C-struct to decode the message contents into
*/
static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
ping->seq = mavlink_msg_ping_get_seq(msg);
ping->target_system = mavlink_msg_ping_get_target_system(msg);
ping->target_component = mavlink_msg_ping_get_target_component(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_PING_LEN? msg->len : MAVLINK_MSG_ID_PING_LEN;
memset(ping, 0, MAVLINK_MSG_ID_PING_LEN);
memcpy(ping, _MAV_PAYLOAD(msg), len);
#endif
}