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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_Message.h
Views: 1798
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#pragma once

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#include "AP_Frsky_MAVlite.h"

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#include <AP_Common/AP_Common.h>

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#include <stdint.h>

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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL

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class AP_Frsky_MAVlite_Message {

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public:

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    // helpers

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    bool get_float(float &value, const uint8_t offset) const WARN_IF_UNUSED {

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        return get_bytes((uint8_t*)&value, offset, 4);

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    }

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    bool set_float(const float value, const uint8_t offset) WARN_IF_UNUSED {

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        return set_bytes((uint8_t*)&value, offset, 4);

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    }

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    bool get_string(char* value, const uint8_t offset) const WARN_IF_UNUSED;

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    bool set_string(const char* value, const uint8_t offset) WARN_IF_UNUSED;

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    bool get_uint16(uint16_t &value, const uint8_t offset) const WARN_IF_UNUSED {

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        return get_bytes((uint8_t*)&value, offset, 2);

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    }

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    bool set_uint16(const uint16_t value, const uint8_t offset) WARN_IF_UNUSED {

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        return set_bytes((uint8_t*)&value, offset, 2);

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    }

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    bool get_uint8(uint8_t &value, const uint8_t offset) const WARN_IF_UNUSED {

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        return get_bytes((uint8_t*)&value, offset, 1);

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    }

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    bool set_uint8(const uint8_t value, const uint8_t offset) WARN_IF_UNUSED {

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        return set_bytes((uint8_t*)&value, offset, 1);

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    }

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    uint8_t msgid = 0;                          // ID of message in payload

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    uint8_t len = 0;                            // Length of payload

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    uint8_t payload[MAVLITE_MAX_PAYLOAD_LEN];

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    static void bit8_pack(uint8_t &value, const uint8_t bit_value, const uint8_t bit_count, const uint8_t bit_offset);

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    static uint8_t bit8_unpack(const uint8_t value, const  uint8_t bit_count, const uint8_t bit_offset);

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private:

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    bool get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const WARN_IF_UNUSED;

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    bool set_bytes(const uint8_t *bytes,  const uint8_t offset, const uint8_t count) WARN_IF_UNUSED;

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};

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#endif

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