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Move MAVLink to lib/main/MAVLink; Post-rebase fixups
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Konstantin Sharlaimov (DigitalEntity)
parent
f73e07e299
commit
09140cfdef
127 changed files with 8 additions and 9 deletions
233
lib/main/MAVLink/common/mavlink_msg_system_time.h
Executable file
233
lib/main/MAVLink/common/mavlink_msg_system_time.h
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// MESSAGE SYSTEM_TIME PACKING
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#define MAVLINK_MSG_ID_SYSTEM_TIME 2
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typedef struct __mavlink_system_time_t
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{
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uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
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uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds.
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} mavlink_system_time_t;
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#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12
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#define MAVLINK_MSG_ID_2_LEN 12
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#define MAVLINK_MSG_ID_SYSTEM_TIME_CRC 137
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#define MAVLINK_MSG_ID_2_CRC 137
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#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
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"SYSTEM_TIME", \
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2, \
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{ { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \
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{ "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \
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} \
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}
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/**
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* @brief Pack a system_time message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
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* @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_unix_usec, uint32_t time_boot_ms)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
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_mav_put_uint64_t(buf, 0, time_unix_usec);
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_mav_put_uint32_t(buf, 8, time_boot_ms);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#else
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mavlink_system_time_t packet;
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packet.time_unix_usec = time_unix_usec;
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packet.time_boot_ms = time_boot_ms;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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}
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/**
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* @brief Pack a system_time message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
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* @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_unix_usec,uint32_t time_boot_ms)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
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_mav_put_uint64_t(buf, 0, time_unix_usec);
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_mav_put_uint32_t(buf, 8, time_boot_ms);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#else
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mavlink_system_time_t packet;
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packet.time_unix_usec = time_unix_usec;
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packet.time_boot_ms = time_boot_ms;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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}
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/**
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* @brief Encode a system_time struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param system_time C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
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{
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return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms);
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}
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/**
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* @brief Encode a system_time struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param system_time C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_system_time_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
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{
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return mavlink_msg_system_time_pack_chan(system_id, component_id, chan, msg, system_time->time_unix_usec, system_time->time_boot_ms);
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}
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/**
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* @brief Send a system_time message
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* @param chan MAVLink channel to send the message
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*
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* @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
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* @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
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_mav_put_uint64_t(buf, 0, time_unix_usec);
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_mav_put_uint32_t(buf, 8, time_boot_ms);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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#else
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mavlink_system_time_t packet;
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packet.time_unix_usec = time_unix_usec;
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packet.time_boot_ms = time_boot_ms;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_SYSTEM_TIME_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_system_time_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_unix_usec);
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_mav_put_uint32_t(buf, 8, time_boot_ms);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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#else
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mavlink_system_time_t *packet = (mavlink_system_time_t *)msgbuf;
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packet->time_unix_usec = time_unix_usec;
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packet->time_boot_ms = time_boot_ms;
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE SYSTEM_TIME UNPACKING
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/**
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* @brief Get field time_unix_usec from system_time message
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*
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* @return Timestamp of the master clock in microseconds since UNIX epoch.
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*/
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static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field time_boot_ms from system_time message
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*
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* @return Timestamp of the component clock since boot time in milliseconds.
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*/
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static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 8);
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}
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/**
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* @brief Decode a system_time message into a struct
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*
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* @param msg The message to decode
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* @param system_time C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg);
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system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg);
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#else
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memcpy(system_time, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
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#endif
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}
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