mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Common/AP_FWVersion.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include "AP_MSP.h"
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#include "AP_MSP_Telem_Generic.h"
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#if HAL_MSP_ENABLED
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extern const AP_HAL::HAL& hal;
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using namespace MSP;
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MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_api_version(sbuf_t *dst)
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{
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struct {
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uint8_t proto;
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uint8_t major;
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uint8_t minor;
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} api_version;
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api_version.proto = MSP_PROTOCOL_VERSION;
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api_version.major = API_VERSION_MAJOR;
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api_version.minor = API_VERSION_MINOR;
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sbuf_write_data(dst, &api_version, sizeof(api_version));
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return MSP_RESULT_ACK;
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}
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MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_version(sbuf_t *dst)
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{
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struct {
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uint8_t major;
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uint8_t minor;
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uint8_t patch;
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} fc_version;
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fc_version.major = FC_VERSION_MAJOR;
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fc_version.minor = FC_VERSION_MINOR;
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fc_version.patch = FC_VERSION_PATCH_LEVEL;
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sbuf_write_data(dst, &fc_version, sizeof(fc_version));
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return MSP_RESULT_ACK;
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}
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MSPCommandResult AP_MSP_Telem_Generic::msp_process_out_fc_variant(sbuf_t *dst)
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{
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sbuf_write_data(dst, "ARDU", FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
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return MSP_RESULT_ACK;
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}
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#endif //HAL_MSP_ENABLED
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