mirror of
https://bitbucket.org/librepilot/librepilot.git
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59 lines
1.5 KiB
C
59 lines
1.5 KiB
C
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#include "pios_opahrs_proto.h"
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#include <string.h> /* memset */
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void opahrs_msg_v0_init_rx (struct opahrs_msg_v0 * msg)
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{
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/* Make sure we start with bad magic in the rx buffer */
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msg->head.magic = 0;
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msg->head.type = 0;
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msg->tail.magic = 0;
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}
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void opahrs_msg_v0_init_user_tx (struct opahrs_msg_v0 * msg, enum opahrs_msg_v0_tag tag)
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{
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msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
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msg->head.type = OPAHRS_MSG_TYPE_USER_V0;
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msg->payload.user.t = tag;
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msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
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}
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void opahrs_msg_v0_init_link_tx (struct opahrs_msg_v0 * msg, enum opahrs_msg_link_tag tag)
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{
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msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
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msg->head.type = OPAHRS_MSG_TYPE_LINK;
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msg->payload.link.t = tag;
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msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
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}
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void opahrs_msg_v1_init_rx (struct opahrs_msg_v1 * msg)
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{
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/* Make sure we start with bad magic in the rx buffer */
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msg->head.magic = 0;
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msg->head.type = 0;
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msg->tail.magic = 0;
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}
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void opahrs_msg_v1_init_user_tx (struct opahrs_msg_v1 * msg, enum opahrs_msg_v1_tag tag)
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{
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msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
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msg->head.type = OPAHRS_MSG_TYPE_USER_V1;
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msg->payload.user.t = tag;
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msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
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}
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void opahrs_msg_v1_init_link_tx (struct opahrs_msg_v1 * msg, enum opahrs_msg_link_tag tag)
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{
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msg->head.magic = OPAHRS_MSG_MAGIC_HEAD;
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msg->head.type = OPAHRS_MSG_TYPE_LINK;
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msg->payload.link.t = tag;
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msg->tail.magic = OPAHRS_MSG_MAGIC_TAIL;
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}
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