| 1 | #ifndef _MAVLINK_PROTOCOL_H_
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| 2 | #define _MAVLINK_PROTOCOL_H_
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| 3 |
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| 4 | #include "string.h"
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| 5 | #include "mavlink_types.h"
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| 6 |
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| 7 | /*
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| 8 | If you want MAVLink on a system that is native big-endian,
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| 9 | you need to define NATIVE_BIG_ENDIAN
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| 10 | */
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| 11 | #ifdef NATIVE_BIG_ENDIAN
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| 12 | # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
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| 13 | #else
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| 14 | # define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
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| 15 | #endif
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| 16 |
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| 17 | #ifndef MAVLINK_STACK_BUFFER
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| 18 | #define MAVLINK_STACK_BUFFER 0
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| 19 | #endif
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| 20 |
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| 21 | #ifndef MAVLINK_AVOID_GCC_STACK_BUG
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| 22 | # define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
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| 23 | #endif
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| 24 |
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| 25 | #ifndef MAVLINK_ASSERT
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| 26 | #define MAVLINK_ASSERT(x)
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| 27 | #endif
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| 28 |
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| 29 | #ifndef MAVLINK_START_UART_SEND
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| 30 | #define MAVLINK_START_UART_SEND(chan, length)
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| 31 | #endif
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| 32 |
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| 33 | #ifndef MAVLINK_END_UART_SEND
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| 34 | #define MAVLINK_END_UART_SEND(chan, length)
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| 35 | #endif
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| 36 |
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| 37 | /* option to provide alternative implementation of mavlink_helpers.h */
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| 38 | #ifdef MAVLINK_SEPARATE_HELPERS
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| 39 |
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| 40 | #define MAVLINK_HELPER
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| 41 |
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| 42 | /* decls in sync with those in mavlink_helpers.h */
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| 43 | #ifndef MAVLINK_GET_CHANNEL_STATUS
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| 44 | MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
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| 45 | #endif
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| 46 | MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
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| 47 | MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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| 48 | uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);
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| 49 | MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
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| 50 | uint8_t min_length, uint8_t length, uint8_t crc_extra);
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| 51 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 52 | MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, const char *packet,
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| 53 | uint8_t min_length, uint8_t length, uint8_t crc_extra);
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| 54 | #endif
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| 55 | MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
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| 56 | MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
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| 57 | MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
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| 58 | MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
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| 59 | mavlink_status_t* status,
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| 60 | uint8_t c,
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| 61 | mavlink_message_t* r_message,
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| 62 | mavlink_status_t* r_mavlink_status);
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| 63 | MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
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| 64 | MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
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| 65 | MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,
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| 66 | uint8_t* r_bit_index, uint8_t* buffer);
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| 67 | MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid);
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| 68 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 69 | MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
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| 70 | MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
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| 71 | #endif
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| 72 |
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| 73 | #else
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| 74 |
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| 75 | #define MAVLINK_HELPER static inline
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| 76 | #include "mavlink_helpers.h"
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| 77 |
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| 78 | #endif // MAVLINK_SEPARATE_HELPERS
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| 79 |
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| 80 |
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| 81 | /**
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| 82 | * @brief Get the required buffer size for this message
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| 83 | */
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| 84 | static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
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| 85 | {
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| 86 | if (msg->magic == MAVLINK_STX_MAVLINK1) {
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| 87 | return msg->len + MAVLINK_CORE_HEADER_MAVLINK1_LEN+1 + 2;
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| 88 | }
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| 89 | uint16_t signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;
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| 90 | return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES + signature_len;
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| 91 | }
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| 92 |
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| 93 | #if MAVLINK_NEED_BYTE_SWAP
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| 94 | static inline void byte_swap_2(char *dst, const char *src)
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| 95 | {
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| 96 | dst[0] = src[1];
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| 97 | dst[1] = src[0];
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| 98 | }
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| 99 | static inline void byte_swap_4(char *dst, const char *src)
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| 100 | {
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| 101 | dst[0] = src[3];
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| 102 | dst[1] = src[2];
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| 103 | dst[2] = src[1];
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| 104 | dst[3] = src[0];
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| 105 | }
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| 106 | static inline void byte_swap_8(char *dst, const char *src)
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| 107 | {
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| 108 | dst[0] = src[7];
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| 109 | dst[1] = src[6];
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| 110 | dst[2] = src[5];
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| 111 | dst[3] = src[4];
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| 112 | dst[4] = src[3];
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| 113 | dst[5] = src[2];
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| 114 | dst[6] = src[1];
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| 115 | dst[7] = src[0];
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| 116 | }
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| 117 | #elif !MAVLINK_ALIGNED_FIELDS
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| 118 | static inline void byte_copy_2(char *dst, const char *src)
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| 119 | {
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| 120 | dst[0] = src[0];
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| 121 | dst[1] = src[1];
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| 122 | }
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| 123 | static inline void byte_copy_4(char *dst, const char *src)
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| 124 | {
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| 125 | dst[0] = src[0];
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| 126 | dst[1] = src[1];
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| 127 | dst[2] = src[2];
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| 128 | dst[3] = src[3];
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| 129 | }
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| 130 | static inline void byte_copy_8(char *dst, const char *src)
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| 131 | {
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| 132 | memcpy(dst, src, 8);
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| 133 | }
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| 134 | #endif
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| 135 |
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| 136 | #define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
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| 137 | #define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b
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| 138 | #define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b
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| 139 |
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| 140 | #if MAVLINK_NEED_BYTE_SWAP
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| 141 | #define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
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| 142 | #define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
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| 143 | #define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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| 144 | #define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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| 145 | #define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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| 146 | #define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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| 147 | #define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
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| 148 | #define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
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| 149 | #elif !MAVLINK_ALIGNED_FIELDS
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| 150 | #define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
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| 151 | #define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
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| 152 | #define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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| 153 | #define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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| 154 | #define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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| 155 | #define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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| 156 | #define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
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| 157 | #define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
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| 158 | #else
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| 159 | #define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
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| 160 | #define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b
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| 161 | #define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
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| 162 | #define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b
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| 163 | #define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
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| 164 | #define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b
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| 165 | #define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b
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| 166 | #define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
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| 167 | #endif
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| 168 |
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| 169 | /*
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| 170 | like memcpy(), but if src is NULL, do a memset to zero
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| 171 | */
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| 172 | static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
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| 173 | {
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| 174 | if (src == NULL) {
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| 175 | memset(dest, 0, n);
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| 176 | } else {
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| 177 | memcpy(dest, src, n);
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| 178 | }
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| 179 | }
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| 180 |
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| 181 | /*
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| 182 | * Place a char array into a buffer
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| 183 | */
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| 184 | static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
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| 185 | {
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| 186 | mav_array_memcpy(&buf[wire_offset], b, array_length);
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| 187 |
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| 188 | }
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| 189 |
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| 190 | /*
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| 191 | * Place a uint8_t array into a buffer
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| 192 | */
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| 193 | static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
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| 194 | {
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| 195 | mav_array_memcpy(&buf[wire_offset], b, array_length);
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| 196 |
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| 197 | }
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| 198 |
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| 199 | /*
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| 200 | * Place a int8_t array into a buffer
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| 201 | */
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| 202 | static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
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| 203 | {
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| 204 | mav_array_memcpy(&buf[wire_offset], b, array_length);
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| 205 |
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| 206 | }
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| 207 |
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| 208 | #if MAVLINK_NEED_BYTE_SWAP
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| 209 | #define _MAV_PUT_ARRAY(TYPE, V) \
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| 210 | static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
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| 211 | { \
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| 212 | if (b == NULL) { \
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| 213 | memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
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| 214 | } else { \
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| 215 | uint16_t i; \
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| 216 | for (i=0; i<array_length; i++) { \
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| 217 | _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
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| 218 | } \
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| 219 | } \
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| 220 | }
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| 221 | #else
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| 222 | #define _MAV_PUT_ARRAY(TYPE, V) \
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| 223 | static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
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| 224 | { \
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| 225 | mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
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| 226 | }
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| 227 | #endif
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| 228 |
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| 229 | _MAV_PUT_ARRAY(uint16_t, u16)
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| 230 | _MAV_PUT_ARRAY(uint32_t, u32)
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| 231 | _MAV_PUT_ARRAY(uint64_t, u64)
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| 232 | _MAV_PUT_ARRAY(int16_t, i16)
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| 233 | _MAV_PUT_ARRAY(int32_t, i32)
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| 234 | _MAV_PUT_ARRAY(int64_t, i64)
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| 235 | _MAV_PUT_ARRAY(float, f)
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| 236 | _MAV_PUT_ARRAY(double, d)
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| 237 |
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| 238 | #define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
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| 239 | #define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
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| 240 | #define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
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| 241 |
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| 242 | #if MAVLINK_NEED_BYTE_SWAP
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| 243 | #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
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| 244 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
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| 245 | { TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
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| 246 |
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| 247 | _MAV_MSG_RETURN_TYPE(uint16_t, 2)
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| 248 | _MAV_MSG_RETURN_TYPE(int16_t, 2)
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| 249 | _MAV_MSG_RETURN_TYPE(uint32_t, 4)
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| 250 | _MAV_MSG_RETURN_TYPE(int32_t, 4)
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| 251 | _MAV_MSG_RETURN_TYPE(uint64_t, 8)
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| 252 | _MAV_MSG_RETURN_TYPE(int64_t, 8)
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| 253 | _MAV_MSG_RETURN_TYPE(float, 4)
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| 254 | _MAV_MSG_RETURN_TYPE(double, 8)
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| 255 |
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| 256 | #elif !MAVLINK_ALIGNED_FIELDS
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| 257 | #define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
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| 258 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
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| 259 | { TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
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| 260 |
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| 261 | _MAV_MSG_RETURN_TYPE(uint16_t, 2)
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| 262 | _MAV_MSG_RETURN_TYPE(int16_t, 2)
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| 263 | _MAV_MSG_RETURN_TYPE(uint32_t, 4)
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| 264 | _MAV_MSG_RETURN_TYPE(int32_t, 4)
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| 265 | _MAV_MSG_RETURN_TYPE(uint64_t, 8)
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| 266 | _MAV_MSG_RETURN_TYPE(int64_t, 8)
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| 267 | _MAV_MSG_RETURN_TYPE(float, 4)
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| 268 | _MAV_MSG_RETURN_TYPE(double, 8)
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| 269 | #else // nicely aligned, no swap
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| 270 | #define _MAV_MSG_RETURN_TYPE(TYPE) \
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| 271 | static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
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| 272 | { return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
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| 273 |
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| 274 | _MAV_MSG_RETURN_TYPE(uint16_t)
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| 275 | _MAV_MSG_RETURN_TYPE(int16_t)
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| 276 | _MAV_MSG_RETURN_TYPE(uint32_t)
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| 277 | _MAV_MSG_RETURN_TYPE(int32_t)
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| 278 | _MAV_MSG_RETURN_TYPE(uint64_t)
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| 279 | _MAV_MSG_RETURN_TYPE(int64_t)
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| 280 | _MAV_MSG_RETURN_TYPE(float)
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| 281 | _MAV_MSG_RETURN_TYPE(double)
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| 282 | #endif // MAVLINK_NEED_BYTE_SWAP
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| 283 |
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| 284 | static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value,
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| 285 | uint8_t array_length, uint8_t wire_offset)
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| 286 | {
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| 287 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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| 288 | return array_length;
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| 289 | }
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| 290 |
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| 291 | static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value,
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| 292 | uint8_t array_length, uint8_t wire_offset)
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| 293 | {
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| 294 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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| 295 | return array_length;
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| 296 | }
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| 297 |
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| 298 | static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value,
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| 299 | uint8_t array_length, uint8_t wire_offset)
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| 300 | {
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| 301 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
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| 302 | return array_length;
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| 303 | }
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| 304 |
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| 305 | #if MAVLINK_NEED_BYTE_SWAP
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| 306 | #define _MAV_RETURN_ARRAY(TYPE, V) \
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| 307 | static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
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| 308 | uint8_t array_length, uint8_t wire_offset) \
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| 309 | { \
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| 310 | uint16_t i; \
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| 311 | for (i=0; i<array_length; i++) { \
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| 312 | value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
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| 313 | } \
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| 314 | return array_length*sizeof(value[0]); \
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| 315 | }
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| 316 | #else
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| 317 | #define _MAV_RETURN_ARRAY(TYPE, V) \
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| 318 | static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
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| 319 | uint8_t array_length, uint8_t wire_offset) \
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| 320 | { \
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| 321 | memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
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| 322 | return array_length*sizeof(TYPE); \
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| 323 | }
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| 324 | #endif
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| 325 |
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| 326 | _MAV_RETURN_ARRAY(uint16_t, u16)
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| 327 | _MAV_RETURN_ARRAY(uint32_t, u32)
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| 328 | _MAV_RETURN_ARRAY(uint64_t, u64)
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| 329 | _MAV_RETURN_ARRAY(int16_t, i16)
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| 330 | _MAV_RETURN_ARRAY(int32_t, i32)
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| 331 | _MAV_RETURN_ARRAY(int64_t, i64)
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| 332 | _MAV_RETURN_ARRAY(float, f)
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| 333 | _MAV_RETURN_ARRAY(double, d)
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| 334 |
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| 335 | #endif // _MAVLINK_PROTOCOL_H_
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