mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.3 KiB
C++
71 lines
1.3 KiB
C++
#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_InternalError/AP_InternalError.h>
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#include "msp.h"
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#include "msp_sbuf.h"
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#include <string.h>
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#if HAL_MSP_ENABLED
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uint8_t* MSP::sbuf_ptr(sbuf_t *buf)
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{
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return buf->ptr;
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}
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uint16_t MSP::sbuf_bytes_remaining(const sbuf_t *buf)
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{
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return buf->end - buf->ptr;
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}
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bool MSP::sbuf_check_bounds(const sbuf_t *buf, const uint8_t len)
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{
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if (sbuf_bytes_remaining(buf) < len) {
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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return false;
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}
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return true;
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}
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void MSP::sbuf_switch_to_reader(sbuf_t *buf, uint8_t *base)
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{
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buf->end = buf->ptr;
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buf->ptr = base;
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}
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void MSP::sbuf_write_u8(sbuf_t *dst, uint8_t val)
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{
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if (!sbuf_check_bounds(dst, 1)) {
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return;
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}
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*dst->ptr++ = val;
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}
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void MSP::sbuf_write_u16(sbuf_t *dst, uint16_t val)
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{
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if (!sbuf_check_bounds(dst, 2)) {
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return;
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}
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put_le16_ptr(dst->ptr, val);
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dst->ptr += 2;
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}
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void MSP::sbuf_write_u32(sbuf_t *dst, uint32_t val)
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{
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if (!sbuf_check_bounds(dst, 4)) {
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return;
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}
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put_le32_ptr(dst->ptr, val);
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dst->ptr += 4;
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}
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void MSP::sbuf_write_data(sbuf_t *dst, const void *data, int len)
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{
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if (!sbuf_check_bounds(dst, len)) {
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return;
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}
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memcpy(dst->ptr, data, len);
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dst->ptr += len;
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}
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#endif //HAL_MSP_ENABLED
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