mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.8 KiB
C++
48 lines
1.8 KiB
C++
#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 |