ardupilot/libraries/AP_PiccoloCAN/piccolo_protocol/ServoPackets.c

// ServoPackets.c was generated by ProtoGen version 3.2.a

/*
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 * Author: Oliver Walters / Currawong Engineering Pty Ltd
 */

#include "ServoPackets.h"
#include "fielddecode.h"
#include "fieldencode.h"
#include "scaleddecode.h"
#include "scaledencode.h"

/*!
 * \brief Create the Servo_Config packet
 *
 * General servo configuration settings
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_ConfigPacketStructure(void* _pg_pkt, const Servo_Config_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;
    unsigned _pg_i = 0;

    // Servo configuration parameters
    encodeServo_ConfigBits_t(_pg_data, &_pg_byteindex, &_pg_user->options);

    // Servo command timeout
    // Range of commandTimeout is 0 to 65535.
    uint16ToBeBytes(_pg_user->commandTimeout, _pg_data, &_pg_byteindex);

    // Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
    // Range of homePosition is -32768 to 32767.
    int16ToBeBytes(_pg_user->homePosition, _pg_data, &_pg_byteindex);

    // Reserved for future use
    // Range of reserved is 0 to 255.
    for(_pg_i = 0; _pg_i < 2; _pg_i++)
        uint8ToBytes(_pg_user->reserved[_pg_i], _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_ConfigPacketID());

}// encodeServo_ConfigPacketStructure

/*!
 * \brief Decode the Servo_Config packet
 *
 * General servo configuration settings
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_ConfigPacketStructure(const void* _pg_pkt, Servo_Config_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;
    unsigned _pg_i = 0;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_ConfigPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_ConfigMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Servo configuration parameters
    if(decodeServo_ConfigBits_t(_pg_data, &_pg_byteindex, &_pg_user->options) == 0)
        return 0;

    // Servo command timeout
    // Range of commandTimeout is 0 to 65535.
    _pg_user->commandTimeout = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
    // Range of homePosition is -32768 to 32767.
    _pg_user->homePosition = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Reserved for future use
    // Range of reserved is 0 to 255.
    for(_pg_i = 0; _pg_i < 2; _pg_i++)
        _pg_user->reserved[_pg_i] = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_ConfigPacketStructure

/*!
 * \brief Create the Servo_Config packet
 *
 * General servo configuration settings
 * \param _pg_pkt points to the packet which will be created by this function
 * \param options is Servo configuration parameters
 * \param commandTimeout is Servo command timeout
 * \param homePosition is Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
 * \param reserved is Reserved for future use
 */
void encodeServo_ConfigPacket(void* _pg_pkt, const Servo_ConfigBits_t* options, uint16_t commandTimeout, int16_t homePosition, const uint8_t reserved[2])
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;
    unsigned _pg_i = 0;

    // Servo configuration parameters
    encodeServo_ConfigBits_t(_pg_data, &_pg_byteindex, options);

    // Servo command timeout
    // Range of commandTimeout is 0 to 65535.
    uint16ToBeBytes(commandTimeout, _pg_data, &_pg_byteindex);

    // Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
    // Range of homePosition is -32768 to 32767.
    int16ToBeBytes(homePosition, _pg_data, &_pg_byteindex);

    // Reserved for future use
    // Range of reserved is 0 to 255.
    for(_pg_i = 0; _pg_i < 2; _pg_i++)
        uint8ToBytes(reserved[_pg_i], _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_ConfigPacketID());

}// encodeServo_ConfigPacket

/*!
 * \brief Decode the Servo_Config packet
 *
 * General servo configuration settings
 * \param _pg_pkt points to the packet being decoded by this function
 * \param options receives Servo configuration parameters
 * \param commandTimeout receives Servo command timeout
 * \param homePosition receives Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
 * \param reserved receives Reserved for future use
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_ConfigPacket(const void* _pg_pkt, Servo_ConfigBits_t* options, uint16_t* commandTimeout, int16_t* homePosition, uint8_t reserved[2])
{
    unsigned _pg_i = 0;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_ConfigPacketID())
        return 0;

    if(_pg_numbytes < getServo_ConfigMinDataLength())
        return 0;

    // Servo configuration parameters
    if(decodeServo_ConfigBits_t(_pg_data, &_pg_byteindex, options) == 0)
        return 0;

    // Servo command timeout
    // Range of commandTimeout is 0 to 65535.
    (*commandTimeout) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
    // Range of homePosition is -32768 to 32767.
    (*homePosition) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Reserved for future use
    // Range of reserved is 0 to 255.
    for(_pg_i = 0; _pg_i < 2; _pg_i++)
        reserved[_pg_i] = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_ConfigPacket

/*!
 * \brief Encode a Servo_Config_t into a byte array
 *
 * General servo configuration settings
 * \param _pg_data points to the byte array to add encoded data to
 * \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes.
 * \param _pg_user is the data to encode in the byte array
 */
void encodeServo_Config_t(uint8_t* _pg_data, int* _pg_bytecount, const Servo_Config_t* _pg_user)
{
    int _pg_byteindex = *_pg_bytecount;
    unsigned _pg_i = 0;

    // Servo configuration parameters
    encodeServo_ConfigBits_t(_pg_data, &_pg_byteindex, &_pg_user->options);

    // Servo command timeout
    // Range of commandTimeout is 0 to 65535.
    uint16ToBeBytes(_pg_user->commandTimeout, _pg_data, &_pg_byteindex);

    // Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
    // Range of homePosition is -32768 to 32767.
    int16ToBeBytes(_pg_user->homePosition, _pg_data, &_pg_byteindex);

    // Reserved for future use
    // Range of reserved is 0 to 255.
    for(_pg_i = 0; _pg_i < 2; _pg_i++)
        uint8ToBytes(_pg_user->reserved[_pg_i], _pg_data, &_pg_byteindex);

    *_pg_bytecount = _pg_byteindex;

}// encodeServo_Config_t

/*!
 * \brief Decode a Servo_Config_t from a byte array
 *
 * General servo configuration settings
 * \param _pg_data points to the byte array to decoded data from
 * \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded
 * \param _pg_user is the data to decode from the byte array
 * \return 1 if the data are decoded, else 0.
 */
int decodeServo_Config_t(const uint8_t* _pg_data, int* _pg_bytecount, Servo_Config_t* _pg_user)
{
    int _pg_byteindex = *_pg_bytecount;
    unsigned _pg_i = 0;

    // Servo configuration parameters
    if(decodeServo_ConfigBits_t(_pg_data, &_pg_byteindex, &_pg_user->options) == 0)
        return 0;

    // Servo command timeout
    // Range of commandTimeout is 0 to 65535.
    _pg_user->commandTimeout = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo neutral position. Servo can be configured to return to this position at powerup, or after loss of communication
    // Range of homePosition is -32768 to 32767.
    _pg_user->homePosition = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Reserved for future use
    // Range of reserved is 0 to 255.
    for(_pg_i = 0; _pg_i < 2; _pg_i++)
        _pg_user->reserved[_pg_i] = uint8FromBytes(_pg_data, &_pg_byteindex);

    *_pg_bytecount = _pg_byteindex;

    return 1;

}// decodeServo_Config_t

/*!
 * \brief Create the Servo_MultiPositionCommand packet
 *
 * This packet can be used to simultaneously command multiple servos which have
 * sequential CAN ID values. This packet must be sent as a broadcast packet
 * (address = 0xFF) such that all servos can receive it. These commands can be
 * sent to groups of servos with ID values up to 64, using different
 * PKT_SERVO_MULTI_COMMAND_x packet ID values.
 * \param _pg_pkt points to the packet which will be created by this function
 * \param commandA is Servo command for servo with address offset 0
 * \param commandB is Servo command for servo with address offset 1
 * \param commandC is Servo command for servo with address offset 3
 * \param commandD is Servo command for servo with address offset 3
 * \param id is the packet identifier for _pg_pkt
 */
void encodeServo_MultiPositionCommandPacket(void* _pg_pkt, int16_t commandA, int16_t commandB, int16_t commandC, int16_t commandD, uint32_t _pg_id)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Servo command for servo with address offset 0
    // Range of commandA is -32768 to 32767.
    int16ToBeBytes(commandA, _pg_data, &_pg_byteindex);

    // Servo command for servo with address offset 1
    // Range of commandB is -32768 to 32767.
    int16ToBeBytes(commandB, _pg_data, &_pg_byteindex);

    // Servo command for servo with address offset 3
    // Range of commandC is -32768 to 32767.
    int16ToBeBytes(commandC, _pg_data, &_pg_byteindex);

    // Servo command for servo with address offset 3
    // Range of commandD is -32768 to 32767.
    int16ToBeBytes(commandD, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, _pg_id);

}// encodeServo_MultiPositionCommandPacket

/*!
 * \brief Decode the Servo_MultiPositionCommand packet
 *
 * This packet can be used to simultaneously command multiple servos which have
 * sequential CAN ID values. This packet must be sent as a broadcast packet
 * (address = 0xFF) such that all servos can receive it. These commands can be
 * sent to groups of servos with ID values up to 64, using different
 * PKT_SERVO_MULTI_COMMAND_x packet ID values.
 * \param _pg_pkt points to the packet being decoded by this function
 * \param commandA receives Servo command for servo with address offset 0
 * \param commandB receives Servo command for servo with address offset 1
 * \param commandC receives Servo command for servo with address offset 3
 * \param commandD receives Servo command for servo with address offset 3
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_MultiPositionCommandPacket(const void* _pg_pkt, int16_t* commandA, int16_t* commandB, int16_t* commandC, int16_t* commandD)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier, multiple options exist
    uint32_t packetid = getServoPacketID(_pg_pkt);
    if( packetid != PKT_SERVO_MULTI_COMMAND_1 &&
        packetid != PKT_SERVO_MULTI_COMMAND_2 &&
        packetid != PKT_SERVO_MULTI_COMMAND_3 &&
        packetid != PKT_SERVO_MULTI_COMMAND_4 &&
        packetid != PKT_SERVO_MULTI_COMMAND_5 &&
        packetid != PKT_SERVO_MULTI_COMMAND_6 &&
        packetid != PKT_SERVO_MULTI_COMMAND_7 &&
        packetid != PKT_SERVO_MULTI_COMMAND_8 &&
        packetid != PKT_SERVO_MULTI_COMMAND_9 &&
        packetid != PKT_SERVO_MULTI_COMMAND_10 &&
        packetid != PKT_SERVO_MULTI_COMMAND_11 &&
        packetid != PKT_SERVO_MULTI_COMMAND_12 &&
        packetid != PKT_SERVO_MULTI_COMMAND_13 &&
        packetid != PKT_SERVO_MULTI_COMMAND_14 &&
        packetid != PKT_SERVO_MULTI_COMMAND_15 &&
        packetid != PKT_SERVO_MULTI_COMMAND_16 )
        return 0;

    if(_pg_numbytes < getServo_MultiPositionCommandMinDataLength())
        return 0;

    // Servo command for servo with address offset 0
    // Range of commandA is -32768 to 32767.
    (*commandA) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo command for servo with address offset 1
    // Range of commandB is -32768 to 32767.
    (*commandB) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo command for servo with address offset 3
    // Range of commandC is -32768 to 32767.
    (*commandC) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo command for servo with address offset 3
    // Range of commandD is -32768 to 32767.
    (*commandD) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_MultiPositionCommandPacket

/*!
 * \brief Create the Servo_PositionCommand packet
 *
 * Send this command to move the servo(s) to the commanded position. Position
 * command units depend on the configuration of the servo. Send with the
 * broadcast ID (0xFF) to send the position command to *all* servos.
 * \param _pg_pkt points to the packet which will be created by this function
 * \param command is Servo command
 */
void encodeServo_PositionCommandPacket(void* _pg_pkt, int16_t command)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Servo command
    // Range of command is -32768 to 32767.
    int16ToBeBytes(command, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_PositionCommandPacketID());

}// encodeServo_PositionCommandPacket

/*!
 * \brief Decode the Servo_PositionCommand packet
 *
 * Send this command to move the servo(s) to the commanded position. Position
 * command units depend on the configuration of the servo. Send with the
 * broadcast ID (0xFF) to send the position command to *all* servos.
 * \param _pg_pkt points to the packet being decoded by this function
 * \param command receives Servo command
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_PositionCommandPacket(const void* _pg_pkt, int16_t* command)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_PositionCommandPacketID())
        return 0;

    if(_pg_numbytes < getServo_PositionCommandMinDataLength())
        return 0;

    // Servo command
    // Range of command is -32768 to 32767.
    (*command) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_PositionCommandPacket

/*!
 * \brief Create the Servo_NeutralPositionCommand packet
 *
 * Send this command (with zero data bytes) to move the servo(s) to the neutral
 * position (if enabled). Send with the broadcast ID (0xFF) to move *all*
 * servos to their neutral positions
 * \param _pg_pkt points to the packet which will be created by this function
 */
void encodeServo_NeutralPositionCommandPacket(void* _pg_pkt)
{

    // Zero length packet, no data encoded
    finishServoPacket(_pg_pkt, 0, getServo_NeutralPositionCommandPacketID());

}// encodeServo_NeutralPositionCommandPacket

/*!
 * \brief Decode the Servo_NeutralPositionCommand packet
 *
 * Send this command (with zero data bytes) to move the servo(s) to the neutral
 * position (if enabled). Send with the broadcast ID (0xFF) to move *all*
 * servos to their neutral positions
 * \param _pg_pkt points to the packet being decoded by this function
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_NeutralPositionCommandPacket(const void* _pg_pkt)
{
    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_NeutralPositionCommandPacketID())
        return 0;
    else
        return 1;

}// decodeServo_NeutralPositionCommandPacket

/*!
 * \brief Create the Servo_Disable packet
 *
 * Send this command (with zero data bytes) to disable the servo. Send with the
 * broadcast ID (0xFF) to disable *all* servos.
 * \param _pg_pkt points to the packet which will be created by this function
 */
void encodeServo_DisablePacket(void* _pg_pkt)
{

    // Zero length packet, no data encoded
    finishServoPacket(_pg_pkt, 0, getServo_DisablePacketID());

}// encodeServo_DisablePacket

/*!
 * \brief Decode the Servo_Disable packet
 *
 * Send this command (with zero data bytes) to disable the servo. Send with the
 * broadcast ID (0xFF) to disable *all* servos.
 * \param _pg_pkt points to the packet being decoded by this function
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_DisablePacket(const void* _pg_pkt)
{
    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_DisablePacketID())
        return 0;
    else
        return 1;

}// decodeServo_DisablePacket

/*!
 * \brief Create the Servo_Enable packet
 *
 * Send this command (with zero data bytes) to enable the servo. Send with the
 * broadcast ID (0xFF) to enable *all* servos.
 * \param _pg_pkt points to the packet which will be created by this function
 */
void encodeServo_EnablePacket(void* _pg_pkt)
{

    // Zero length packet, no data encoded
    finishServoPacket(_pg_pkt, 0, getServo_EnablePacketID());

}// encodeServo_EnablePacket

/*!
 * \brief Decode the Servo_Enable packet
 *
 * Send this command (with zero data bytes) to enable the servo. Send with the
 * broadcast ID (0xFF) to enable *all* servos.
 * \param _pg_pkt points to the packet being decoded by this function
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_EnablePacket(const void* _pg_pkt)
{
    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_EnablePacketID())
        return 0;
    else
        return 1;

}// decodeServo_EnablePacket

/*!
 * \brief Create the Servo_SetTitle packet
 *
 * Set the human-readable description of this servo
 * \param _pg_pkt points to the packet which will be created by this function
 * \param title is 
 */
void encodeServo_SetTitlePacket(void* _pg_pkt, const uint8_t title[8])
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;
    unsigned _pg_i = 0;

    // Range of title is 0 to 255.
    for(_pg_i = 0; _pg_i < 8; _pg_i++)
        uint8ToBytes(title[_pg_i], _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SetTitlePacketID());

}// encodeServo_SetTitlePacket

/*!
 * \brief Decode the Servo_SetTitle packet
 *
 * Set the human-readable description of this servo
 * \param _pg_pkt points to the packet being decoded by this function
 * \param title receives 
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_SetTitlePacket(const void* _pg_pkt, uint8_t title[8])
{
    unsigned _pg_i = 0;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_SetTitlePacketID())
        return 0;

    if(_pg_numbytes < getServo_SetTitleMinDataLength())
        return 0;

    // Range of title is 0 to 255.
    for(_pg_i = 0; _pg_i < 8; _pg_i++)
        title[_pg_i] = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_SetTitlePacket

/*!
 * \brief Create the Servo_StatusA packet
 *
 * The *SERVO_STATUS_A* packet contains status, warning and error information,
 * in addition to the servo position
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_StatusAPacketStructure(void* _pg_pkt, const Servo_StatusA_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Status bits contain information on servo operation
    encodeServo_StatusBits_t(_pg_data, &_pg_byteindex, &_pg_user->status);

    // Warning bits indicate servo is operation outside of desired range
    encodeServo_WarningBits_t(_pg_data, &_pg_byteindex, &_pg_user->warnings);

    // These bits indicate critical system error information
    encodeServo_ErrorBits_t(_pg_data, &_pg_byteindex, &_pg_user->errors);

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    int16ToBeBytes(_pg_user->position, _pg_data, &_pg_byteindex);

    // Servo commanded position
    // Range of command is -32768 to 32767.
    int16ToBeBytes(_pg_user->command, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_StatusAPacketID());

}// encodeServo_StatusAPacketStructure

/*!
 * \brief Decode the Servo_StatusA packet
 *
 * The *SERVO_STATUS_A* packet contains status, warning and error information,
 * in addition to the servo position
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_StatusAPacketStructure(const void* _pg_pkt, Servo_StatusA_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_StatusAPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_StatusAMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Status bits contain information on servo operation
    if(decodeServo_StatusBits_t(_pg_data, &_pg_byteindex, &_pg_user->status) == 0)
        return 0;

    // Warning bits indicate servo is operation outside of desired range
    if(decodeServo_WarningBits_t(_pg_data, &_pg_byteindex, &_pg_user->warnings) == 0)
        return 0;

    // These bits indicate critical system error information
    if(decodeServo_ErrorBits_t(_pg_data, &_pg_byteindex, &_pg_user->errors) == 0)
        return 0;

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    _pg_user->position = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo commanded position
    // Range of command is -32768 to 32767.
    _pg_user->command = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_StatusAPacketStructure

/*!
 * \brief Create the Servo_StatusA packet
 *
 * The *SERVO_STATUS_A* packet contains status, warning and error information,
 * in addition to the servo position
 * \param _pg_pkt points to the packet which will be created by this function
 * \param status is Status bits contain information on servo operation
 * \param warnings is Warning bits indicate servo is operation outside of desired range
 * \param errors is These bits indicate critical system error information
 * \param position is Servo position, mapped to input units
 * \param command is Servo commanded position
 */
void encodeServo_StatusAPacket(void* _pg_pkt, const Servo_StatusBits_t* status, const Servo_WarningBits_t* warnings, const Servo_ErrorBits_t* errors, int16_t position, int16_t command)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Status bits contain information on servo operation
    encodeServo_StatusBits_t(_pg_data, &_pg_byteindex, status);

    // Warning bits indicate servo is operation outside of desired range
    encodeServo_WarningBits_t(_pg_data, &_pg_byteindex, warnings);

    // These bits indicate critical system error information
    encodeServo_ErrorBits_t(_pg_data, &_pg_byteindex, errors);

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    int16ToBeBytes(position, _pg_data, &_pg_byteindex);

    // Servo commanded position
    // Range of command is -32768 to 32767.
    int16ToBeBytes(command, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_StatusAPacketID());

}// encodeServo_StatusAPacket

/*!
 * \brief Decode the Servo_StatusA packet
 *
 * The *SERVO_STATUS_A* packet contains status, warning and error information,
 * in addition to the servo position
 * \param _pg_pkt points to the packet being decoded by this function
 * \param status receives Status bits contain information on servo operation
 * \param warnings receives Warning bits indicate servo is operation outside of desired range
 * \param errors receives These bits indicate critical system error information
 * \param position receives Servo position, mapped to input units
 * \param command receives Servo commanded position
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_StatusAPacket(const void* _pg_pkt, Servo_StatusBits_t* status, Servo_WarningBits_t* warnings, Servo_ErrorBits_t* errors, int16_t* position, int16_t* command)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_StatusAPacketID())
        return 0;

    if(_pg_numbytes < getServo_StatusAMinDataLength())
        return 0;

    // Status bits contain information on servo operation
    if(decodeServo_StatusBits_t(_pg_data, &_pg_byteindex, status) == 0)
        return 0;

    // Warning bits indicate servo is operation outside of desired range
    if(decodeServo_WarningBits_t(_pg_data, &_pg_byteindex, warnings) == 0)
        return 0;

    // These bits indicate critical system error information
    if(decodeServo_ErrorBits_t(_pg_data, &_pg_byteindex, errors) == 0)
        return 0;

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    (*position) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo commanded position
    // Range of command is -32768 to 32767.
    (*command) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_StatusAPacket

/*!
 * \brief Create the Servo_StatusB packet
 *
 * The *SERVO_STATUS_B* packet contains various servo feedback data
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_StatusBPacketStructure(void* _pg_pkt, const Servo_StatusB_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Servo current
    // Range of current is 0 to 65535.
    uint16ToBeBytes(_pg_user->current, _pg_data, &_pg_byteindex);

    // Servo supply voltage
    // Range of voltage is 0 to 65535.
    uint16ToBeBytes(_pg_user->voltage, _pg_data, &_pg_byteindex);

    // Servo temperature
    // Range of temperature is -128 to 127.
    int8ToBytes(_pg_user->temperature, _pg_data, &_pg_byteindex);

    // Motor duty cycle
    // Range of dutyCycle is -128 to 127.
    int8ToBytes(_pg_user->dutyCycle, _pg_data, &_pg_byteindex);

    // Servo output shaft speed
    // Range of speed is -32768 to 32767.
    int16ToBeBytes(_pg_user->speed, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_StatusBPacketID());

}// encodeServo_StatusBPacketStructure

/*!
 * \brief Decode the Servo_StatusB packet
 *
 * The *SERVO_STATUS_B* packet contains various servo feedback data
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_StatusBPacketStructure(const void* _pg_pkt, Servo_StatusB_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_StatusBPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_StatusBMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // this packet has default fields, make sure they are set
    _pg_user->dutyCycle = 0;
    _pg_user->speed = 0;

    // Servo current
    // Range of current is 0 to 65535.
    _pg_user->current = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo supply voltage
    // Range of voltage is 0 to 65535.
    _pg_user->voltage = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo temperature
    // Range of temperature is -128 to 127.
    _pg_user->temperature = int8FromBytes(_pg_data, &_pg_byteindex);

    if(_pg_byteindex + 1 > _pg_numbytes)
        return 1;

    // Motor duty cycle
    // Range of dutyCycle is -128 to 127.
    _pg_user->dutyCycle = int8FromBytes(_pg_data, &_pg_byteindex);

    if(_pg_byteindex + 2 > _pg_numbytes)
        return 1;

    // Servo output shaft speed
    // Range of speed is -32768 to 32767.
    _pg_user->speed = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_StatusBPacketStructure

/*!
 * \brief Create the Servo_StatusB packet
 *
 * The *SERVO_STATUS_B* packet contains various servo feedback data
 * \param _pg_pkt points to the packet which will be created by this function
 * \param current is Servo current
 * \param voltage is Servo supply voltage
 * \param temperature is Servo temperature
 * \param dutyCycle is Motor duty cycle
 * \param speed is Servo output shaft speed
 */
void encodeServo_StatusBPacket(void* _pg_pkt, uint16_t current, uint16_t voltage, int8_t temperature, int8_t dutyCycle, int16_t speed)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Servo current
    // Range of current is 0 to 65535.
    uint16ToBeBytes(current, _pg_data, &_pg_byteindex);

    // Servo supply voltage
    // Range of voltage is 0 to 65535.
    uint16ToBeBytes(voltage, _pg_data, &_pg_byteindex);

    // Servo temperature
    // Range of temperature is -128 to 127.
    int8ToBytes(temperature, _pg_data, &_pg_byteindex);

    // Motor duty cycle
    // Range of dutyCycle is -128 to 127.
    int8ToBytes(dutyCycle, _pg_data, &_pg_byteindex);

    // Servo output shaft speed
    // Range of speed is -32768 to 32767.
    int16ToBeBytes(speed, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_StatusBPacketID());

}// encodeServo_StatusBPacket

/*!
 * \brief Decode the Servo_StatusB packet
 *
 * The *SERVO_STATUS_B* packet contains various servo feedback data
 * \param _pg_pkt points to the packet being decoded by this function
 * \param current receives Servo current
 * \param voltage receives Servo supply voltage
 * \param temperature receives Servo temperature
 * \param dutyCycle receives Motor duty cycle
 * \param speed receives Servo output shaft speed
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_StatusBPacket(const void* _pg_pkt, uint16_t* current, uint16_t* voltage, int8_t* temperature, int8_t* dutyCycle, int16_t* speed)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_StatusBPacketID())
        return 0;

    if(_pg_numbytes < getServo_StatusBMinDataLength())
        return 0;

    // this packet has default fields, make sure they are set
    (*dutyCycle) = 0;
    (*speed) = 0;

    // Servo current
    // Range of current is 0 to 65535.
    (*current) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo supply voltage
    // Range of voltage is 0 to 65535.
    (*voltage) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Servo temperature
    // Range of temperature is -128 to 127.
    (*temperature) = int8FromBytes(_pg_data, &_pg_byteindex);

    if(_pg_byteindex + 1 > _pg_numbytes)
        return 1;

    // Motor duty cycle
    // Range of dutyCycle is -128 to 127.
    (*dutyCycle) = int8FromBytes(_pg_data, &_pg_byteindex);

    if(_pg_byteindex + 2 > _pg_numbytes)
        return 1;

    // Servo output shaft speed
    // Range of speed is -32768 to 32767.
    (*speed) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_StatusBPacket

/*!
 * \brief Create the Servo_StatusC packet
 *
 * The *SERVO_STATUS_C* packet contains servo position data. It is a cut-down
 * packet to allow high-speed feedback on servo position
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_StatusCPacketStructure(void* _pg_pkt, const Servo_StatusC_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    int16ToBeBytes(_pg_user->position, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_StatusCPacketID());

}// encodeServo_StatusCPacketStructure

/*!
 * \brief Decode the Servo_StatusC packet
 *
 * The *SERVO_STATUS_C* packet contains servo position data. It is a cut-down
 * packet to allow high-speed feedback on servo position
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_StatusCPacketStructure(const void* _pg_pkt, Servo_StatusC_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_StatusCPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_StatusCMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    _pg_user->position = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_StatusCPacketStructure

/*!
 * \brief Create the Servo_StatusC packet
 *
 * The *SERVO_STATUS_C* packet contains servo position data. It is a cut-down
 * packet to allow high-speed feedback on servo position
 * \param _pg_pkt points to the packet which will be created by this function
 * \param position is Servo position, mapped to input units
 */
void encodeServo_StatusCPacket(void* _pg_pkt, int16_t position)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    int16ToBeBytes(position, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_StatusCPacketID());

}// encodeServo_StatusCPacket

/*!
 * \brief Decode the Servo_StatusC packet
 *
 * The *SERVO_STATUS_C* packet contains servo position data. It is a cut-down
 * packet to allow high-speed feedback on servo position
 * \param _pg_pkt points to the packet being decoded by this function
 * \param position receives Servo position, mapped to input units
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_StatusCPacket(const void* _pg_pkt, int16_t* position)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_StatusCPacketID())
        return 0;

    if(_pg_numbytes < getServo_StatusCMinDataLength())
        return 0;

    // Servo position, mapped to input units
    // Range of position is -32768 to 32767.
    (*position) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_StatusCPacket

/*!
 * \brief Create the Servo_Accelerometer packet
 *
 * Raw accelerometer data. To convert these raw readings to 'real' units, use
 * the formula acc = 0.5 * raw * fullscale / (2^resolution)
 * \param _pg_pkt points to the packet which will be created by this function
 * \param xAcc is X axis acceleration value
 * \param yAcc is Y axis acceleration value
 * \param zAcc is Z axis acceleration value
 * \param fullscale is Accelerometer full-scale range
 * \param resolution is Accelerometer measurement resolution, in 'bits'.
 */
void encodeServo_AccelerometerPacket(void* _pg_pkt, int16_t xAcc, int16_t yAcc, int16_t zAcc, uint8_t fullscale, uint8_t resolution)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // X axis acceleration value
    // Range of xAcc is -32768 to 32767.
    int16ToBeBytes(xAcc, _pg_data, &_pg_byteindex);

    // Y axis acceleration value
    // Range of yAcc is -32768 to 32767.
    int16ToBeBytes(yAcc, _pg_data, &_pg_byteindex);

    // Z axis acceleration value
    // Range of zAcc is -32768 to 32767.
    int16ToBeBytes(zAcc, _pg_data, &_pg_byteindex);

    // Accelerometer full-scale range
    // Range of fullscale is 0 to 255.
    uint8ToBytes(fullscale, _pg_data, &_pg_byteindex);

    // Accelerometer measurement resolution, in 'bits'.
    // Range of resolution is 0 to 255.
    uint8ToBytes(resolution, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_AccelerometerPacketID());

}// encodeServo_AccelerometerPacket

/*!
 * \brief Decode the Servo_Accelerometer packet
 *
 * Raw accelerometer data. To convert these raw readings to 'real' units, use
 * the formula acc = 0.5 * raw * fullscale / (2^resolution)
 * \param _pg_pkt points to the packet being decoded by this function
 * \param xAcc receives X axis acceleration value
 * \param yAcc receives Y axis acceleration value
 * \param zAcc receives Z axis acceleration value
 * \param fullscale receives Accelerometer full-scale range
 * \param resolution receives Accelerometer measurement resolution, in 'bits'.
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_AccelerometerPacket(const void* _pg_pkt, int16_t* xAcc, int16_t* yAcc, int16_t* zAcc, uint8_t* fullscale, uint8_t* resolution)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_AccelerometerPacketID())
        return 0;

    if(_pg_numbytes < getServo_AccelerometerMinDataLength())
        return 0;

    // X axis acceleration value
    // Range of xAcc is -32768 to 32767.
    (*xAcc) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Y axis acceleration value
    // Range of yAcc is -32768 to 32767.
    (*yAcc) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Z axis acceleration value
    // Range of zAcc is -32768 to 32767.
    (*zAcc) = int16FromBeBytes(_pg_data, &_pg_byteindex);

    // Accelerometer full-scale range
    // Range of fullscale is 0 to 255.
    (*fullscale) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Accelerometer measurement resolution, in 'bits'.
    // Range of resolution is 0 to 255.
    (*resolution) = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_AccelerometerPacket

/*!
 * \brief Create the Servo_Address packet
 *
 * Servo address information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_AddressPacketStructure(void* _pg_pkt, const Servo_Address_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Hardware revision
    // Range of hwRev is 0 to 255.
    uint8ToBytes(_pg_user->hwRev, _pg_data, &_pg_byteindex);

    // Servo serial number
    // Range of serialNumber is 0 to 16777215.
    uint24ToBeBytes((uint32_t)(limitMax(_pg_user->serialNumber, 16777215)), _pg_data, &_pg_byteindex);

    // Programmable User ID value 1/2
    // Range of userIDA is 0 to 65535.
    uint16ToBeBytes(_pg_user->userIDA, _pg_data, &_pg_byteindex);

    // Programmable User ID value 2/2
    // Range of userIDB is 0 to 65535.
    uint16ToBeBytes(_pg_user->userIDB, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_AddressPacketID());

}// encodeServo_AddressPacketStructure

/*!
 * \brief Decode the Servo_Address packet
 *
 * Servo address information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_AddressPacketStructure(const void* _pg_pkt, Servo_Address_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_AddressPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_AddressMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Hardware revision
    // Range of hwRev is 0 to 255.
    _pg_user->hwRev = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Servo serial number
    // Range of serialNumber is 0 to 16777215.
    _pg_user->serialNumber = (uint32_t)uint24FromBeBytes(_pg_data, &_pg_byteindex);

    // Programmable User ID value 1/2
    // Range of userIDA is 0 to 65535.
    _pg_user->userIDA = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Programmable User ID value 2/2
    // Range of userIDB is 0 to 65535.
    _pg_user->userIDB = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_AddressPacketStructure

/*!
 * \brief Create the Servo_Address packet
 *
 * Servo address information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param hwRev is Hardware revision
 * \param serialNumber is Servo serial number
 * \param userIDA is Programmable User ID value 1/2
 * \param userIDB is Programmable User ID value 2/2
 */
void encodeServo_AddressPacket(void* _pg_pkt, uint8_t hwRev, uint32_t serialNumber, uint16_t userIDA, uint16_t userIDB)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Hardware revision
    // Range of hwRev is 0 to 255.
    uint8ToBytes(hwRev, _pg_data, &_pg_byteindex);

    // Servo serial number
    // Range of serialNumber is 0 to 16777215.
    uint24ToBeBytes((uint32_t)(limitMax(serialNumber, 16777215)), _pg_data, &_pg_byteindex);

    // Programmable User ID value 1/2
    // Range of userIDA is 0 to 65535.
    uint16ToBeBytes(userIDA, _pg_data, &_pg_byteindex);

    // Programmable User ID value 2/2
    // Range of userIDB is 0 to 65535.
    uint16ToBeBytes(userIDB, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_AddressPacketID());

}// encodeServo_AddressPacket

/*!
 * \brief Decode the Servo_Address packet
 *
 * Servo address information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param hwRev receives Hardware revision
 * \param serialNumber receives Servo serial number
 * \param userIDA receives Programmable User ID value 1/2
 * \param userIDB receives Programmable User ID value 2/2
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_AddressPacket(const void* _pg_pkt, uint8_t* hwRev, uint32_t* serialNumber, uint16_t* userIDA, uint16_t* userIDB)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_AddressPacketID())
        return 0;

    if(_pg_numbytes < getServo_AddressMinDataLength())
        return 0;

    // Hardware revision
    // Range of hwRev is 0 to 255.
    (*hwRev) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Servo serial number
    // Range of serialNumber is 0 to 16777215.
    (*serialNumber) = (uint32_t)uint24FromBeBytes(_pg_data, &_pg_byteindex);

    // Programmable User ID value 1/2
    // Range of userIDA is 0 to 65535.
    (*userIDA) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Programmable User ID value 2/2
    // Range of userIDB is 0 to 65535.
    (*userIDB) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_AddressPacket

/*!
 * \brief Create the Servo_Title packet
 *
 * Servo title information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param title is Human readable description string for the servo
 */
void encodeServo_TitlePacket(void* _pg_pkt, const uint8_t title[8])
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;
    unsigned _pg_i = 0;

    // Human readable description string for the servo
    // Range of title is 0 to 255.
    for(_pg_i = 0; _pg_i < 8; _pg_i++)
        uint8ToBytes(title[_pg_i], _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_TitlePacketID());

}// encodeServo_TitlePacket

/*!
 * \brief Decode the Servo_Title packet
 *
 * Servo title information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param title receives Human readable description string for the servo
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_TitlePacket(const void* _pg_pkt, uint8_t title[8])
{
    unsigned _pg_i = 0;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_TitlePacketID())
        return 0;

    if(_pg_numbytes < getServo_TitleMinDataLength())
        return 0;

    // Human readable description string for the servo
    // Range of title is 0 to 255.
    for(_pg_i = 0; _pg_i < 8; _pg_i++)
        title[_pg_i] = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_TitlePacket

/*!
 * \brief Create the Servo_Firmware packet
 *
 * Servo firmware information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_FirmwarePacketStructure(void* _pg_pkt, const Servo_Firmware_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Firmware version, major number
    // Range of major is 0 to 255.
    uint8ToBytes(_pg_user->major, _pg_data, &_pg_byteindex);

    // Firmware version, minor number
    // Range of minor is 0 to 255.
    uint8ToBytes(_pg_user->minor, _pg_data, &_pg_byteindex);

    // Firmware release date, day-of-month
    // Range of day is 0 to 255.
    uint8ToBytes(_pg_user->day, _pg_data, &_pg_byteindex);

    // Firmware release date, month-of-year
    // Range of month is 0 to 255.
    uint8ToBytes(_pg_user->month, _pg_data, &_pg_byteindex);

    // Firmware release date, year
    // Range of year is 0 to 65535.
    uint16ToBeBytes(_pg_user->year, _pg_data, &_pg_byteindex);

    // Firmware checksum, 16-bit
    // Range of checksum is 0 to 65535.
    uint16ToBeBytes(_pg_user->checksum, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_FirmwarePacketID());

}// encodeServo_FirmwarePacketStructure

/*!
 * \brief Decode the Servo_Firmware packet
 *
 * Servo firmware information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_FirmwarePacketStructure(const void* _pg_pkt, Servo_Firmware_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_FirmwarePacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_FirmwareMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Firmware version, major number
    // Range of major is 0 to 255.
    _pg_user->major = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware version, minor number
    // Range of minor is 0 to 255.
    _pg_user->minor = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware release date, day-of-month
    // Range of day is 0 to 255.
    _pg_user->day = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware release date, month-of-year
    // Range of month is 0 to 255.
    _pg_user->month = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware release date, year
    // Range of year is 0 to 65535.
    _pg_user->year = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Firmware checksum, 16-bit
    // Range of checksum is 0 to 65535.
    _pg_user->checksum = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_FirmwarePacketStructure

/*!
 * \brief Create the Servo_Firmware packet
 *
 * Servo firmware information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param major is Firmware version, major number
 * \param minor is Firmware version, minor number
 * \param day is Firmware release date, day-of-month
 * \param month is Firmware release date, month-of-year
 * \param year is Firmware release date, year
 * \param checksum is Firmware checksum, 16-bit
 */
void encodeServo_FirmwarePacket(void* _pg_pkt, uint8_t major, uint8_t minor, uint8_t day, uint8_t month, uint16_t year, uint16_t checksum)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Firmware version, major number
    // Range of major is 0 to 255.
    uint8ToBytes(major, _pg_data, &_pg_byteindex);

    // Firmware version, minor number
    // Range of minor is 0 to 255.
    uint8ToBytes(minor, _pg_data, &_pg_byteindex);

    // Firmware release date, day-of-month
    // Range of day is 0 to 255.
    uint8ToBytes(day, _pg_data, &_pg_byteindex);

    // Firmware release date, month-of-year
    // Range of month is 0 to 255.
    uint8ToBytes(month, _pg_data, &_pg_byteindex);

    // Firmware release date, year
    // Range of year is 0 to 65535.
    uint16ToBeBytes(year, _pg_data, &_pg_byteindex);

    // Firmware checksum, 16-bit
    // Range of checksum is 0 to 65535.
    uint16ToBeBytes(checksum, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_FirmwarePacketID());

}// encodeServo_FirmwarePacket

/*!
 * \brief Decode the Servo_Firmware packet
 *
 * Servo firmware information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param major receives Firmware version, major number
 * \param minor receives Firmware version, minor number
 * \param day receives Firmware release date, day-of-month
 * \param month receives Firmware release date, month-of-year
 * \param year receives Firmware release date, year
 * \param checksum receives Firmware checksum, 16-bit
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_FirmwarePacket(const void* _pg_pkt, uint8_t* major, uint8_t* minor, uint8_t* day, uint8_t* month, uint16_t* year, uint16_t* checksum)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_FirmwarePacketID())
        return 0;

    if(_pg_numbytes < getServo_FirmwareMinDataLength())
        return 0;

    // Firmware version, major number
    // Range of major is 0 to 255.
    (*major) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware version, minor number
    // Range of minor is 0 to 255.
    (*minor) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware release date, day-of-month
    // Range of day is 0 to 255.
    (*day) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware release date, month-of-year
    // Range of month is 0 to 255.
    (*month) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Firmware release date, year
    // Range of year is 0 to 65535.
    (*year) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Firmware checksum, 16-bit
    // Range of checksum is 0 to 65535.
    (*checksum) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_FirmwarePacket

/*!
 * \brief Create the Servo_SystemInfo packet
 *
 * Servo system info (uptime, etc)
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_SystemInfoPacketStructure(void* _pg_pkt, const Servo_SystemInfo_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Time since last power cycle (milliseconds)
    // Range of msSinceReset is 0 to 4294967295.
    uint32ToBeBytes(_pg_user->msSinceReset, _pg_data, &_pg_byteindex);

    // Number of recorded power cycles
    // Range of powerCycles is 0 to 65535.
    uint16ToBeBytes(_pg_user->powerCycles, _pg_data, &_pg_byteindex);

    // Processor code indicating cause of most recent reset event
    // Range of resetCode is 0 to 255.
    uint8ToBytes(_pg_user->resetCode, _pg_data, &_pg_byteindex);

    // Range of cpuOccupancy is 0 to 255.
    uint8ToBytes(_pg_user->cpuOccupancy, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SystemInfoPacketID());

}// encodeServo_SystemInfoPacketStructure

/*!
 * \brief Decode the Servo_SystemInfo packet
 *
 * Servo system info (uptime, etc)
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_SystemInfoPacketStructure(const void* _pg_pkt, Servo_SystemInfo_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_SystemInfoPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_SystemInfoMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Time since last power cycle (milliseconds)
    // Range of msSinceReset is 0 to 4294967295.
    _pg_user->msSinceReset = uint32FromBeBytes(_pg_data, &_pg_byteindex);

    // Number of recorded power cycles
    // Range of powerCycles is 0 to 65535.
    _pg_user->powerCycles = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Processor code indicating cause of most recent reset event
    // Range of resetCode is 0 to 255.
    _pg_user->resetCode = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Range of cpuOccupancy is 0 to 255.
    _pg_user->cpuOccupancy = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_SystemInfoPacketStructure

/*!
 * \brief Create the Servo_SystemInfo packet
 *
 * Servo system info (uptime, etc)
 * \param _pg_pkt points to the packet which will be created by this function
 * \param msSinceReset is Time since last power cycle (milliseconds)
 * \param powerCycles is Number of recorded power cycles
 * \param resetCode is Processor code indicating cause of most recent reset event
 * \param cpuOccupancy is 
 */
void encodeServo_SystemInfoPacket(void* _pg_pkt, uint32_t msSinceReset, uint16_t powerCycles, uint8_t resetCode, uint8_t cpuOccupancy)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Time since last power cycle (milliseconds)
    // Range of msSinceReset is 0 to 4294967295.
    uint32ToBeBytes(msSinceReset, _pg_data, &_pg_byteindex);

    // Number of recorded power cycles
    // Range of powerCycles is 0 to 65535.
    uint16ToBeBytes(powerCycles, _pg_data, &_pg_byteindex);

    // Processor code indicating cause of most recent reset event
    // Range of resetCode is 0 to 255.
    uint8ToBytes(resetCode, _pg_data, &_pg_byteindex);

    // Range of cpuOccupancy is 0 to 255.
    uint8ToBytes(cpuOccupancy, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SystemInfoPacketID());

}// encodeServo_SystemInfoPacket

/*!
 * \brief Decode the Servo_SystemInfo packet
 *
 * Servo system info (uptime, etc)
 * \param _pg_pkt points to the packet being decoded by this function
 * \param msSinceReset receives Time since last power cycle (milliseconds)
 * \param powerCycles receives Number of recorded power cycles
 * \param resetCode receives Processor code indicating cause of most recent reset event
 * \param cpuOccupancy receives 
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_SystemInfoPacket(const void* _pg_pkt, uint32_t* msSinceReset, uint16_t* powerCycles, uint8_t* resetCode, uint8_t* cpuOccupancy)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_SystemInfoPacketID())
        return 0;

    if(_pg_numbytes < getServo_SystemInfoMinDataLength())
        return 0;

    // Time since last power cycle (milliseconds)
    // Range of msSinceReset is 0 to 4294967295.
    (*msSinceReset) = uint32FromBeBytes(_pg_data, &_pg_byteindex);

    // Number of recorded power cycles
    // Range of powerCycles is 0 to 65535.
    (*powerCycles) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Processor code indicating cause of most recent reset event
    // Range of resetCode is 0 to 255.
    (*resetCode) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Range of cpuOccupancy is 0 to 255.
    (*cpuOccupancy) = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_SystemInfoPacket

/*!
 * \brief Create the Servo_TelemetryConfig packet
 *
 * Telemetry settings configuration packet
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_TelemetryConfigPacketStructure(void* _pg_pkt, const Servo_TelemetryConfig_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;
    unsigned _pg_i = 0;

    // Servo telemetry settings
    encodeServo_TelemetrySettings_t(_pg_data, &_pg_byteindex, &_pg_user->settings);

    // Reserved for future use
    for(_pg_i = 0; _pg_i < 3; _pg_i++)
        uint8ToBytes((uint8_t)(0), _pg_data, &_pg_byteindex);

    // Servo ICD revision
    uint8ToBytes((uint8_t)(getServoApi()), _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_TelemetryConfigPacketID());

}// encodeServo_TelemetryConfigPacketStructure

/*!
 * \brief Decode the Servo_TelemetryConfig packet
 *
 * Telemetry settings configuration packet
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_TelemetryConfigPacketStructure(const void* _pg_pkt, Servo_TelemetryConfig_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_TelemetryConfigPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_TelemetryConfigMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Servo telemetry settings
    if(decodeServo_TelemetrySettings_t(_pg_data, &_pg_byteindex, &_pg_user->settings) == 0)
        return 0;

    // Reserved for future use
    _pg_byteindex += 1*3;

    // Servo ICD revision
    // Range of icdVersion is 0 to 255.
    _pg_user->icdVersion = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_TelemetryConfigPacketStructure

/*!
 * \brief Create the Servo_TelemetryConfig packet
 *
 * Telemetry settings configuration packet
 * \param _pg_pkt points to the packet which will be created by this function
 * \param settings is Servo telemetry settings
 */
void encodeServo_TelemetryConfigPacket(void* _pg_pkt, const Servo_TelemetrySettings_t* settings)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;
    unsigned _pg_i = 0;

    // Servo telemetry settings
    encodeServo_TelemetrySettings_t(_pg_data, &_pg_byteindex, settings);

    // Reserved for future use
    for(_pg_i = 0; _pg_i < 3; _pg_i++)
        uint8ToBytes((uint8_t)(0), _pg_data, &_pg_byteindex);

    // Servo ICD revision
    uint8ToBytes((uint8_t)(getServoApi()), _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_TelemetryConfigPacketID());

}// encodeServo_TelemetryConfigPacket

/*!
 * \brief Decode the Servo_TelemetryConfig packet
 *
 * Telemetry settings configuration packet
 * \param _pg_pkt points to the packet being decoded by this function
 * \param settings receives Servo telemetry settings
 * \param icdVersion receives Servo ICD revision
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_TelemetryConfigPacket(const void* _pg_pkt, Servo_TelemetrySettings_t* settings, uint8_t* icdVersion)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_TelemetryConfigPacketID())
        return 0;

    if(_pg_numbytes < getServo_TelemetryConfigMinDataLength())
        return 0;

    // Servo telemetry settings
    if(decodeServo_TelemetrySettings_t(_pg_data, &_pg_byteindex, settings) == 0)
        return 0;

    // Reserved for future use
    _pg_byteindex += 1*3;

    // Servo ICD revision
    // Range of icdVersion is 0 to 255.
    (*icdVersion) = uint8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_TelemetryConfigPacket

/*!
 * \brief Create the Servo_SettingsInfo packet
 *
 * Non-volatile settings configuration information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param _pg_user points to the user data that will be encoded in _pg_pkt
 */
void encodeServo_SettingsInfoPacketStructure(void* _pg_pkt, const Servo_SettingsInfo_t* _pg_user)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Set if the servo is unlocked and ready to receive settings updates
    _pg_data[_pg_byteindex] = (uint8_t)_pg_user->eeUnlocked << 7;

    // Version of non-volatile settings configuration
    // Range of eeVersion is 0 to 127.
    _pg_data[_pg_byteindex] |= (uint8_t)_pg_user->eeVersion;
    _pg_byteindex += 1; // close bit field


    // Size of non-volatile settings data
    // Range of eeSize is 0 to 65535.
    uint16ToBeBytes(_pg_user->eeSize, _pg_data, &_pg_byteindex);

    // NV settings checksum
    // Range of eeChecksum is 0 to 65535.
    uint16ToBeBytes(_pg_user->eeChecksum, _pg_data, &_pg_byteindex);

    // Range of mramVersion is 0 to 255.
    uint8ToBytes(_pg_user->mramVersion, _pg_data, &_pg_byteindex);

    // Range of mramSize is 0 to 65535.
    uint16ToBeBytes(_pg_user->mramSize, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SettingsInfoPacketID());

}// encodeServo_SettingsInfoPacketStructure

/*!
 * \brief Decode the Servo_SettingsInfo packet
 *
 * Non-volatile settings configuration information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param _pg_user receives the data decoded from the packet
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_SettingsInfoPacketStructure(const void* _pg_pkt, Servo_SettingsInfo_t* _pg_user)
{
    int _pg_numbytes;
    int _pg_byteindex = 0;
    const uint8_t* _pg_data;

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_SettingsInfoPacketID())
        return 0;

    // Verify the packet size
    _pg_numbytes = getServoPacketSize(_pg_pkt);
    if(_pg_numbytes < getServo_SettingsInfoMinDataLength())
        return 0;

    // The raw data from the packet
    _pg_data = getServoPacketDataConst(_pg_pkt);

    // Set if the servo is unlocked and ready to receive settings updates
    _pg_user->eeUnlocked = (_pg_data[_pg_byteindex] >> 7);

    // Version of non-volatile settings configuration
    // Range of eeVersion is 0 to 127.
    _pg_user->eeVersion = ((_pg_data[_pg_byteindex]) & 0x7F);
    _pg_byteindex += 1; // close bit field

    // Size of non-volatile settings data
    // Range of eeSize is 0 to 65535.
    _pg_user->eeSize = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // NV settings checksum
    // Range of eeChecksum is 0 to 65535.
    _pg_user->eeChecksum = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Range of mramVersion is 0 to 255.
    _pg_user->mramVersion = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Range of mramSize is 0 to 65535.
    _pg_user->mramSize = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_SettingsInfoPacketStructure

/*!
 * \brief Create the Servo_SettingsInfo packet
 *
 * Non-volatile settings configuration information
 * \param _pg_pkt points to the packet which will be created by this function
 * \param eeUnlocked is Set if the servo is unlocked and ready to receive settings updates
 * \param eeVersion is Version of non-volatile settings configuration
 * \param eeSize is Size of non-volatile settings data
 * \param eeChecksum is NV settings checksum
 * \param mramVersion is 
 * \param mramSize is 
 */
void encodeServo_SettingsInfoPacket(void* _pg_pkt, unsigned eeUnlocked, unsigned eeVersion, uint16_t eeSize, uint16_t eeChecksum, uint8_t mramVersion, uint16_t mramSize)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Set if the servo is unlocked and ready to receive settings updates
    _pg_data[_pg_byteindex] = (uint8_t)eeUnlocked << 7;

    // Version of non-volatile settings configuration
    // Range of eeVersion is 0 to 127.
    _pg_data[_pg_byteindex] |= (uint8_t)eeVersion;
    _pg_byteindex += 1; // close bit field

    // Size of non-volatile settings data
    // Range of eeSize is 0 to 65535.
    uint16ToBeBytes(eeSize, _pg_data, &_pg_byteindex);

    // NV settings checksum
    // Range of eeChecksum is 0 to 65535.
    uint16ToBeBytes(eeChecksum, _pg_data, &_pg_byteindex);

    // Range of mramVersion is 0 to 255.
    uint8ToBytes(mramVersion, _pg_data, &_pg_byteindex);

    // Range of mramSize is 0 to 65535.
    uint16ToBeBytes(mramSize, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SettingsInfoPacketID());

}// encodeServo_SettingsInfoPacket

/*!
 * \brief Decode the Servo_SettingsInfo packet
 *
 * Non-volatile settings configuration information
 * \param _pg_pkt points to the packet being decoded by this function
 * \param eeUnlocked receives Set if the servo is unlocked and ready to receive settings updates
 * \param eeVersion receives Version of non-volatile settings configuration
 * \param eeSize receives Size of non-volatile settings data
 * \param eeChecksum receives NV settings checksum
 * \param mramVersion receives 
 * \param mramSize receives 
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_SettingsInfoPacket(const void* _pg_pkt, unsigned* eeUnlocked, unsigned* eeVersion, uint16_t* eeSize, uint16_t* eeChecksum, uint8_t* mramVersion, uint16_t* mramSize)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_SettingsInfoPacketID())
        return 0;

    if(_pg_numbytes < getServo_SettingsInfoMinDataLength())
        return 0;

    // Set if the servo is unlocked and ready to receive settings updates
    (*eeUnlocked) = (_pg_data[_pg_byteindex] >> 7);

    // Version of non-volatile settings configuration
    // Range of eeVersion is 0 to 127.
    (*eeVersion) = ((_pg_data[_pg_byteindex]) & 0x7F);
    _pg_byteindex += 1; // close bit field

    // Size of non-volatile settings data
    // Range of eeSize is 0 to 65535.
    (*eeSize) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // NV settings checksum
    // Range of eeChecksum is 0 to 65535.
    (*eeChecksum) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    // Range of mramVersion is 0 to 255.
    (*mramVersion) = uint8FromBytes(_pg_data, &_pg_byteindex);

    // Range of mramSize is 0 to 65535.
    (*mramSize) = uint16FromBeBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_SettingsInfoPacket

/*!
 * \brief Create the Servo_TelltaleA packet
 *
 * Servo telltale data
 * \param _pg_pkt points to the packet which will be created by this function
 * \param minTemperature is Minimum temperature seen by the servo
 * \param maxTemperature is Maximum temperature seen by the servo
 */
void encodeServo_TelltaleAPacket(void* _pg_pkt, int8_t minTemperature, int8_t maxTemperature)
{
    uint8_t* _pg_data = getServoPacketData(_pg_pkt);
    int _pg_byteindex = 0;

    // Minimum temperature seen by the servo
    // Range of minTemperature is -128 to 127.
    int8ToBytes(minTemperature, _pg_data, &_pg_byteindex);

    // Maximum temperature seen by the servo
    // Range of maxTemperature is -128 to 127.
    int8ToBytes(maxTemperature, _pg_data, &_pg_byteindex);

    // complete the process of creating the packet
    finishServoPacket(_pg_pkt, _pg_byteindex, getServo_TelltaleAPacketID());

}// encodeServo_TelltaleAPacket

/*!
 * \brief Decode the Servo_TelltaleA packet
 *
 * Servo telltale data
 * \param _pg_pkt points to the packet being decoded by this function
 * \param minTemperature receives Minimum temperature seen by the servo
 * \param maxTemperature receives Maximum temperature seen by the servo
 * \return 0 is returned if the packet ID or size is wrong, else 1
 */
int decodeServo_TelltaleAPacket(const void* _pg_pkt, int8_t* minTemperature, int8_t* maxTemperature)
{
    int _pg_byteindex = 0;
    const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
    int _pg_numbytes = getServoPacketSize(_pg_pkt);

    // Verify the packet identifier
    if(getServoPacketID(_pg_pkt) != getServo_TelltaleAPacketID())
        return 0;

    if(_pg_numbytes < getServo_TelltaleAMinDataLength())
        return 0;

    // Minimum temperature seen by the servo
    // Range of minTemperature is -128 to 127.
    (*minTemperature) = int8FromBytes(_pg_data, &_pg_byteindex);

    // Maximum temperature seen by the servo
    // Range of maxTemperature is -128 to 127.
    (*maxTemperature) = int8FromBytes(_pg_data, &_pg_byteindex);

    return 1;

}// decodeServo_TelltaleAPacket
// end of ServoPackets.c