Diff: FreeD.h

Revision:

25:7002be632308

Parent:

20:ce1d8fbff68f

Child:

80:0b7f1b85b626

--- a/FreeD.h	Wed Jul 07 09:13:52 2021 +0000
+++ b/FreeD.h	Wed Jul 07 16:27:24 2021 +0000
@@ -7,18 +7,26 @@
 struct D1MsgFormat_s {
     uint8_t header; //0xD1, annoying it cant be set as default value here!
     uint8_t id; //camera ID, use 255 minus Rover ID
-    uint32_t yaw : 24;
-    uint32_t pitch : 24;
-    uint32_t roll : 24;
-    uint32_t x : 24;
-    uint32_t y : 24;
-    uint32_t z : 24;
-    uint32_t zoom : 24;
-    uint32_t focus : 24;
+    uint8_t yaw[3];
+    uint8_t pitch[3];
+    uint8_t roll[3];
+    uint8_t x[3];
+    uint8_t y[3];
+    uint8_t z[3];
+    uint8_t zoom[3];
+    uint8_t focus[3];
     uint16_t spare;
     uint8_t checksum;
 } __attribute__((packed)) ;
 
+
+inline void set24bitValue(uint8_t *target, int32_t value)
+{
+    *target = (uint8_t) ((value>>16) & 0xff);
+    *(target+1) = (uint8_t) ((value>>8) & 0xff);
+    *(target+2) = (uint8_t) (value & 0xff);
+}
+
 inline int GetFdCRC(void *data) {
     uint8_t *dataPtr = (uint8_t *)data;
     //uint8_t *crcPtr = (uint8_t *)checksum;