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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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213
app/drivers/sertrf/protocol/mavlinkv2/slugs/mavlink_msg_boot.h Normal file
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#pragma once
// MESSAGE BOOT PACKING
#define MAVLINK_MSG_ID_BOOT 197
MAVPACKED(
typedef struct __mavlink_boot_t {
uint32_t version; /*< The onboard software version*/
}) mavlink_boot_t;
#define MAVLINK_MSG_ID_BOOT_LEN 4
#define MAVLINK_MSG_ID_BOOT_MIN_LEN 4
#define MAVLINK_MSG_ID_197_LEN 4
#define MAVLINK_MSG_ID_197_MIN_LEN 4
#define MAVLINK_MSG_ID_BOOT_CRC 39
#define MAVLINK_MSG_ID_197_CRC 39
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_BOOT { \
197, \
"BOOT", \
1, \
{ { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_BOOT { \
"BOOT", \
1, \
{ { "version", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_boot_t, version) }, \
} \
}
#endif
/**
* @brief Pack a boot 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 version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BOOT_LEN];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BOOT_LEN);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BOOT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
}
/**
* @brief Pack a boot 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 version The onboard software version
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BOOT_LEN];
_mav_put_uint32_t(buf, 0, version);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BOOT_LEN);
#else
mavlink_boot_t packet;
packet.version = version;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BOOT_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_BOOT;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
}
/**
* @brief Encode a boot 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 boot C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot)
{
return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version);
}
/**
* @brief Encode a boot 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 boot C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_boot_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_boot_t* boot)
{
return mavlink_msg_boot_pack_chan(system_id, component_id, chan, msg, boot->version);
}
/**
* @brief Send a boot message
* @param chan MAVLink channel to send the message
*
* @param version The onboard software version
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_BOOT_LEN];
_mav_put_uint32_t(buf, 0, version);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
#else
mavlink_boot_t packet;
packet.version = version;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)&packet, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
#endif
}
/**
* @brief Send a boot message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_boot_send_struct(mavlink_channel_t chan, const mavlink_boot_t* boot)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_boot_send(chan, boot->version);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)boot, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
#endif
}
#if MAVLINK_MSG_ID_BOOT_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_boot_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t version)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, version);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, buf, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
#else
mavlink_boot_t *packet = (mavlink_boot_t *)msgbuf;
packet->version = version;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BOOT, (const char *)packet, MAVLINK_MSG_ID_BOOT_MIN_LEN, MAVLINK_MSG_ID_BOOT_LEN, MAVLINK_MSG_ID_BOOT_CRC);
#endif
}
#endif
#endif
// MESSAGE BOOT UNPACKING
/**
* @brief Get field version from boot message
*
* @return The onboard software version
*/
static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Decode a boot message into a struct
*
* @param msg The message to decode
* @param boot C-struct to decode the message contents into
*/
static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
boot->version = mavlink_msg_boot_get_version(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_BOOT_LEN? msg->len : MAVLINK_MSG_ID_BOOT_LEN;
memset(boot, 0, MAVLINK_MSG_ID_BOOT_LEN);
memcpy(boot, _MAV_PAYLOAD(msg), len);
#endif
}