ardupilot/libraries/AP_Frsky_Telem/AP_Frsky_MAVlite_Message.h

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#pragma once
#include "AP_Frsky_MAVlite.h"
#include <AP_Common/AP_Common.h>
#include <stdint.h>
#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
class AP_Frsky_MAVlite_Message {
public:
// helpers
bool get_float(float &value, const uint8_t offset) const WARN_IF_UNUSED {
return get_bytes((uint8_t*)&value, offset, 4);
}
bool set_float(const float value, const uint8_t offset) WARN_IF_UNUSED {
return set_bytes((uint8_t*)&value, offset, 4);
}
bool get_string(char* value, const uint8_t offset) const WARN_IF_UNUSED;
bool set_string(const char* value, const uint8_t offset) WARN_IF_UNUSED;
bool get_uint16(uint16_t &value, const uint8_t offset) const WARN_IF_UNUSED {
return get_bytes((uint8_t*)&value, offset, 2);
}
bool set_uint16(const uint16_t value, const uint8_t offset) WARN_IF_UNUSED {
return set_bytes((uint8_t*)&value, offset, 2);
}
bool get_uint8(uint8_t &value, const uint8_t offset) const WARN_IF_UNUSED {
return get_bytes((uint8_t*)&value, offset, 1);;
}
bool set_uint8(const uint8_t value, const uint8_t offset) WARN_IF_UNUSED {
return set_bytes((uint8_t*)&value, offset, 1);
}
uint8_t msgid = 0; // ID of message in payload
uint8_t len = 0; // Length of payload
uint8_t payload[MAVLITE_MAX_PAYLOAD_LEN];
static void bit8_pack(uint8_t &value, const uint8_t bit_value, const uint8_t bit_count, const uint8_t bit_offset);
static uint8_t bit8_unpack(const uint8_t value, const uint8_t bit_count, const uint8_t bit_offset);
private:
bool get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const WARN_IF_UNUSED;
bool set_bytes(const uint8_t *bytes, const uint8_t offset, const uint8_t count) WARN_IF_UNUSED;
};
#endif