mirror of https://github.com/ArduPilot/ardupilot
40 lines
832 B
C
40 lines
832 B
C
|
#include <mavlink.h>
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
int main(int argc, char* argv[])
|
||
|
|
{
|
||
|
|
|
||
|
|
uint8_t bitfield = 254; // 11111110
|
||
|
|
|
||
|
|
uint8_t mask = 128; // 10000000
|
||
|
|
|
||
|
|
uint8_t result = (bitfield & mask);
|
||
|
|
|
||
|
|
printf("0x%02x\n", bitfield);
|
||
|
|
|
||
|
|
// Transform into network order
|
||
|
|
|
||
|
|
generic_32bit bin;
|
||
|
|
bin.i = 1;
|
||
|
|
printf("First byte in (little endian) 0x%02x\n", bin.b[0]);
|
||
|
|
generic_32bit bout;
|
||
|
|
bout.b[0] = bin.b[3];
|
||
|
|
bout.b[1] = bin.b[2];
|
||
|
|
bout.b[2] = bin.b[1];
|
||
|
|
bout.b[3] = bin.b[0];
|
||
|
|
printf("Last byte out (big endian) 0x%02x\n", bout.b[3]);
|
||
|
|
|
||
|
|
uint8_t n = 5;
|
||
|
|
printf("Mask is 0x%02x\n", ((uint32_t)(1 << n)) - 1); // = 2^n - 1
|
||
|
|
|
||
|
|
int32_t encoded = 2;
|
||
|
|
uint8_t bits = 2;
|
||
|
|
|
||
|
|
uint8_t packet[MAVLINK_MAX_PACKET_LEN];
|
||
|
|
uint8_t packet_index = 0;
|
||
|
|
uint8_t bit_index = 0;
|
||
|
|
|
||
|
|
put_bitfield_n_by_index(encoded, bits, packet_index, bit_index, &bit_index, packet);
|
||
|
|
|
||
|
|
}
|