Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Frsky_MAVlite.h"
       4             : 
       5             : #include <AP_Common/AP_Common.h>
       6             : 
       7             : #include <stdint.h>
       8             : 
       9             : #if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
      10             : class AP_Frsky_MAVlite_Message {
      11             : public:
      12             :     // helpers
      13           7 :     bool get_float(float &value, const uint8_t offset) const WARN_IF_UNUSED {
      14           7 :         return get_bytes((uint8_t*)&value, offset, 4);
      15             :     }
      16           2 :     bool set_float(const float value, const uint8_t offset) WARN_IF_UNUSED {
      17           2 :         return set_bytes((uint8_t*)&value, offset, 4);
      18             :     }
      19             : 
      20             :     bool get_string(char* value, const uint8_t offset) const WARN_IF_UNUSED;
      21             :     bool set_string(const char* value, const uint8_t offset) WARN_IF_UNUSED;
      22             : 
      23           4 :     bool get_uint16(uint16_t &value, const uint8_t offset) const WARN_IF_UNUSED {
      24           4 :         return get_bytes((uint8_t*)&value, offset, 2);
      25             :     }
      26           4 :     bool set_uint16(const uint16_t value, const uint8_t offset) WARN_IF_UNUSED {
      27           4 :         return set_bytes((uint8_t*)&value, offset, 2);
      28             :     }
      29             : 
      30           4 :     bool get_uint8(uint8_t &value, const uint8_t offset) const WARN_IF_UNUSED {
      31           4 :         return get_bytes((uint8_t*)&value, offset, 1);
      32             :     }
      33           4 :     bool set_uint8(const uint8_t value, const uint8_t offset) WARN_IF_UNUSED {
      34           4 :         return set_bytes((uint8_t*)&value, offset, 1);
      35             :     }
      36             : 
      37             :     uint8_t msgid = 0;                          // ID of message in payload
      38             :     uint8_t len = 0;                            // Length of payload
      39             :     uint8_t payload[MAVLITE_MAX_PAYLOAD_LEN];
      40             : 
      41             :     static void bit8_pack(uint8_t &value, const uint8_t bit_value, const uint8_t bit_count, const uint8_t bit_offset);
      42             :     static uint8_t bit8_unpack(const uint8_t value, const  uint8_t bit_count, const uint8_t bit_offset);
      43             : 
      44             : private:
      45             :     bool get_bytes(uint8_t *bytes, const uint8_t offset, const uint8_t count) const WARN_IF_UNUSED;
      46             :     bool set_bytes(const uint8_t *bytes,  const uint8_t offset, const uint8_t count) WARN_IF_UNUSED;
      47             : };
      48             : #endif