#pragma once
|
// MESSAGE CAN_FRAME PACKING
|
|
#define MAVLINK_MSG_ID_CAN_FRAME 386
|
|
|
typedef struct __mavlink_can_frame_t {
|
uint32_t id; /*< Frame ID*/
|
uint8_t target_system; /*< System ID.*/
|
uint8_t target_component; /*< Component ID.*/
|
uint8_t bus; /*< Bus number*/
|
uint8_t len; /*< Frame length*/
|
uint8_t data[8]; /*< Frame data*/
|
} mavlink_can_frame_t;
|
|
#define MAVLINK_MSG_ID_CAN_FRAME_LEN 16
|
#define MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN 16
|
#define MAVLINK_MSG_ID_386_LEN 16
|
#define MAVLINK_MSG_ID_386_MIN_LEN 16
|
|
#define MAVLINK_MSG_ID_CAN_FRAME_CRC 132
|
#define MAVLINK_MSG_ID_386_CRC 132
|
|
#define MAVLINK_MSG_CAN_FRAME_FIELD_DATA_LEN 8
|
|
#if MAVLINK_COMMAND_24BIT
|
#define MAVLINK_MESSAGE_INFO_CAN_FRAME { \
|
386, \
|
"CAN_FRAME", \
|
6, \
|
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_can_frame_t, target_system) }, \
|
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_can_frame_t, target_component) }, \
|
{ "bus", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_can_frame_t, bus) }, \
|
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_can_frame_t, len) }, \
|
{ "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_can_frame_t, id) }, \
|
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 8, 8, offsetof(mavlink_can_frame_t, data) }, \
|
} \
|
}
|
#else
|
#define MAVLINK_MESSAGE_INFO_CAN_FRAME { \
|
"CAN_FRAME", \
|
6, \
|
{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_can_frame_t, target_system) }, \
|
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_can_frame_t, target_component) }, \
|
{ "bus", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_can_frame_t, bus) }, \
|
{ "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_can_frame_t, len) }, \
|
{ "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_can_frame_t, id) }, \
|
{ "data", NULL, MAVLINK_TYPE_UINT8_T, 8, 8, offsetof(mavlink_can_frame_t, data) }, \
|
} \
|
}
|
#endif
|
|
/**
|
* @brief Pack a can_frame 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 target_system System ID.
|
* @param target_component Component ID.
|
* @param bus Bus number
|
* @param len Frame length
|
* @param id Frame ID
|
* @param data Frame data
|
* @return length of the message in bytes (excluding serial stream start sign)
|
*/
|
static inline uint16_t mavlink_msg_can_frame_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
uint8_t target_system, uint8_t target_component, uint8_t bus, uint8_t len, uint32_t id, const uint8_t *data)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_CAN_FRAME_LEN];
|
_mav_put_uint32_t(buf, 0, id);
|
_mav_put_uint8_t(buf, 4, target_system);
|
_mav_put_uint8_t(buf, 5, target_component);
|
_mav_put_uint8_t(buf, 6, bus);
|
_mav_put_uint8_t(buf, 7, len);
|
_mav_put_uint8_t_array(buf, 8, data, 8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAN_FRAME_LEN);
|
#else
|
mavlink_can_frame_t packet;
|
packet.id = id;
|
packet.target_system = target_system;
|
packet.target_component = target_component;
|
packet.bus = bus;
|
packet.len = len;
|
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAN_FRAME_LEN);
|
#endif
|
|
msg->msgid = MAVLINK_MSG_ID_CAN_FRAME;
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
}
|
|
/**
|
* @brief Pack a can_frame 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 target_system System ID.
|
* @param target_component Component ID.
|
* @param bus Bus number
|
* @param len Frame length
|
* @param id Frame ID
|
* @param data Frame data
|
* @return length of the message in bytes (excluding serial stream start sign)
|
*/
|
static inline uint16_t mavlink_msg_can_frame_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
mavlink_message_t* msg,
|
uint8_t target_system,uint8_t target_component,uint8_t bus,uint8_t len,uint32_t id,const uint8_t *data)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_CAN_FRAME_LEN];
|
_mav_put_uint32_t(buf, 0, id);
|
_mav_put_uint8_t(buf, 4, target_system);
|
_mav_put_uint8_t(buf, 5, target_component);
|
_mav_put_uint8_t(buf, 6, bus);
|
_mav_put_uint8_t(buf, 7, len);
|
_mav_put_uint8_t_array(buf, 8, data, 8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAN_FRAME_LEN);
|
#else
|
mavlink_can_frame_t packet;
|
packet.id = id;
|
packet.target_system = target_system;
|
packet.target_component = target_component;
|
packet.bus = bus;
|
packet.len = len;
|
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAN_FRAME_LEN);
|
#endif
|
|
msg->msgid = MAVLINK_MSG_ID_CAN_FRAME;
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
}
|
|
/**
|
* @brief Encode a can_frame 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 can_frame C-struct to read the message contents from
|
*/
|
static inline uint16_t mavlink_msg_can_frame_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_can_frame_t* can_frame)
|
{
|
return mavlink_msg_can_frame_pack(system_id, component_id, msg, can_frame->target_system, can_frame->target_component, can_frame->bus, can_frame->len, can_frame->id, can_frame->data);
|
}
|
|
/**
|
* @brief Encode a can_frame 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 can_frame C-struct to read the message contents from
|
*/
|
static inline uint16_t mavlink_msg_can_frame_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_can_frame_t* can_frame)
|
{
|
return mavlink_msg_can_frame_pack_chan(system_id, component_id, chan, msg, can_frame->target_system, can_frame->target_component, can_frame->bus, can_frame->len, can_frame->id, can_frame->data);
|
}
|
|
/**
|
* @brief Send a can_frame message
|
* @param chan MAVLink channel to send the message
|
*
|
* @param target_system System ID.
|
* @param target_component Component ID.
|
* @param bus Bus number
|
* @param len Frame length
|
* @param id Frame ID
|
* @param data Frame data
|
*/
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
static inline void mavlink_msg_can_frame_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t bus, uint8_t len, uint32_t id, const uint8_t *data)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_CAN_FRAME_LEN];
|
_mav_put_uint32_t(buf, 0, id);
|
_mav_put_uint8_t(buf, 4, target_system);
|
_mav_put_uint8_t(buf, 5, target_component);
|
_mav_put_uint8_t(buf, 6, bus);
|
_mav_put_uint8_t(buf, 7, len);
|
_mav_put_uint8_t_array(buf, 8, data, 8);
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, buf, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
#else
|
mavlink_can_frame_t packet;
|
packet.id = id;
|
packet.target_system = target_system;
|
packet.target_component = target_component;
|
packet.bus = bus;
|
packet.len = len;
|
mav_array_memcpy(packet.data, data, sizeof(uint8_t)*8);
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, (const char *)&packet, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
#endif
|
}
|
|
/**
|
* @brief Send a can_frame message
|
* @param chan MAVLink channel to send the message
|
* @param struct The MAVLink struct to serialize
|
*/
|
static inline void mavlink_msg_can_frame_send_struct(mavlink_channel_t chan, const mavlink_can_frame_t* can_frame)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
mavlink_msg_can_frame_send(chan, can_frame->target_system, can_frame->target_component, can_frame->bus, can_frame->len, can_frame->id, can_frame->data);
|
#else
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, (const char *)can_frame, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
#endif
|
}
|
|
#if MAVLINK_MSG_ID_CAN_FRAME_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
/*
|
This variant 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_can_frame_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t bus, uint8_t len, uint32_t id, const uint8_t *data)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char *buf = (char *)msgbuf;
|
_mav_put_uint32_t(buf, 0, id);
|
_mav_put_uint8_t(buf, 4, target_system);
|
_mav_put_uint8_t(buf, 5, target_component);
|
_mav_put_uint8_t(buf, 6, bus);
|
_mav_put_uint8_t(buf, 7, len);
|
_mav_put_uint8_t_array(buf, 8, data, 8);
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, buf, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
#else
|
mavlink_can_frame_t *packet = (mavlink_can_frame_t *)msgbuf;
|
packet->id = id;
|
packet->target_system = target_system;
|
packet->target_component = target_component;
|
packet->bus = bus;
|
packet->len = len;
|
mav_array_memcpy(packet->data, data, sizeof(uint8_t)*8);
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAN_FRAME, (const char *)packet, MAVLINK_MSG_ID_CAN_FRAME_MIN_LEN, MAVLINK_MSG_ID_CAN_FRAME_LEN, MAVLINK_MSG_ID_CAN_FRAME_CRC);
|
#endif
|
}
|
#endif
|
|
#endif
|
|
// MESSAGE CAN_FRAME UNPACKING
|
|
|
/**
|
* @brief Get field target_system from can_frame message
|
*
|
* @return System ID.
|
*/
|
static inline uint8_t mavlink_msg_can_frame_get_target_system(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 4);
|
}
|
|
/**
|
* @brief Get field target_component from can_frame message
|
*
|
* @return Component ID.
|
*/
|
static inline uint8_t mavlink_msg_can_frame_get_target_component(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 5);
|
}
|
|
/**
|
* @brief Get field bus from can_frame message
|
*
|
* @return Bus number
|
*/
|
static inline uint8_t mavlink_msg_can_frame_get_bus(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 6);
|
}
|
|
/**
|
* @brief Get field len from can_frame message
|
*
|
* @return Frame length
|
*/
|
static inline uint8_t mavlink_msg_can_frame_get_len(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 7);
|
}
|
|
/**
|
* @brief Get field id from can_frame message
|
*
|
* @return Frame ID
|
*/
|
static inline uint32_t mavlink_msg_can_frame_get_id(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint32_t(msg, 0);
|
}
|
|
/**
|
* @brief Get field data from can_frame message
|
*
|
* @return Frame data
|
*/
|
static inline uint16_t mavlink_msg_can_frame_get_data(const mavlink_message_t* msg, uint8_t *data)
|
{
|
return _MAV_RETURN_uint8_t_array(msg, data, 8, 8);
|
}
|
|
/**
|
* @brief Decode a can_frame message into a struct
|
*
|
* @param msg The message to decode
|
* @param can_frame C-struct to decode the message contents into
|
*/
|
static inline void mavlink_msg_can_frame_decode(const mavlink_message_t* msg, mavlink_can_frame_t* can_frame)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
can_frame->id = mavlink_msg_can_frame_get_id(msg);
|
can_frame->target_system = mavlink_msg_can_frame_get_target_system(msg);
|
can_frame->target_component = mavlink_msg_can_frame_get_target_component(msg);
|
can_frame->bus = mavlink_msg_can_frame_get_bus(msg);
|
can_frame->len = mavlink_msg_can_frame_get_len(msg);
|
mavlink_msg_can_frame_get_data(msg, can_frame->data);
|
#else
|
uint8_t len = msg->len < MAVLINK_MSG_ID_CAN_FRAME_LEN? msg->len : MAVLINK_MSG_ID_CAN_FRAME_LEN;
|
memset(can_frame, 0, MAVLINK_MSG_ID_CAN_FRAME_LEN);
|
memcpy(can_frame, _MAV_PAYLOAD(msg), len);
|
#endif
|
}
|
