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/*
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* Copyright (C) 2014 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/**
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* @file subsystems/datalink/pprzlog_transport.h
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*
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* Building and Paparazzi frames with timestamp for data logger.
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*
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* LOG-message: ABCDEFGHxxxxxxxI
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* A PPRZ_STX (0x99)
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* B LENGTH (H->H)
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* C SOURCE (0=uart0, 1=uart1, 2=i2c0, ...)
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* D TIMESTAMP_LSB (100 microsec raster)
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* E TIMESTAMP
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* F TIMESTAMP
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* G TIMESTAMP_MSB
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* H PPRZ_DATA
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* 0 SENDER_ID
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* 1 MSG_ID
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* 2 MSG_PAYLOAD
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* . DATA (messages.xml)
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* I CHECKSUM (sum[B->H])
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*
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*/
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#ifndef PPRZLOG_TRANSPORT_H
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#define PPRZLOG_TRANSPORT_H
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#include "mcu_periph/sys_time.h"
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extern uint8_t log_ck;
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#define STX_LOG 0x99
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#define PprzLogTransportSizeOf(_dev, _payload) (_payload)
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#define PprzLogTransportCheckFreeSpace(_dev, _x) TransportLink(_dev, CheckFreeSpace(_x))
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#define PprzLogTransportPut1Byte(_dev, _x) TransportLink(_dev, Transmit(_x))
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#define PprzLogTransportSendMessage(_dev) TransportLink(_dev, SendMessage())
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#define PprzLogTransportHeader(_dev, payload_len) { \
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PprzLogTransportPut1Byte(_dev, STX_LOG); \
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uint8_t msg_len = PprzLogTransportSizeOf(_dev, payload_len); \
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PprzLogTransportPut1Byte(_dev, msg_len); \
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log_ck = msg_len; \
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PprzLogTransportPutUint8(_dev, 0); \
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uint32_t ts = get_sys_time_usec()/100; \
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PprzLogTransportPut4ByteByAddr(_dev, &ts); \
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}
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#define PprzLogTransportTrailer(_dev) { \
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PprzLogTransportPut1Byte(_dev, log_ck); \
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PprzLogTransportSendMessage(_dev); \
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}
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#define PprzLogTransportPutUint8(_dev, _byte) { \
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log_ck += _byte; \
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PprzLogTransportPut1Byte(_dev, _byte); \
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}
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#define PprzLogTransportPutNamedUint8(_dev, _name, _byte) PprzLogTransportPutUint8(_dev, _byte)
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#define PprzLogTransportPut1ByteByAddr(_dev, _byte) { \
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uint8_t _x = *(_byte); \
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PprzLogTransportPutUint8(_dev, _x); \
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}
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#define PprzLogTransportPut2ByteByAddr(_dev, _byte) { \
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PprzLogTransportPut1ByteByAddr(_dev, _byte); \
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PprzLogTransportPut1ByteByAddr(_dev, (const uint8_t*)_byte+1); \
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}
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#define PprzLogTransportPut4ByteByAddr(_dev, _byte) { \
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PprzLogTransportPut2ByteByAddr(_dev, _byte); \
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PprzLogTransportPut2ByteByAddr(_dev, (const uint8_t*)_byte+2); \
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}
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#ifdef __IEEE_BIG_ENDIAN /* From machine/ieeefp.h */
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#define PprzLogTransportPutDoubleByAddr(_dev, _byte) { \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#define PprzLogTransportPutUint64ByAddr(_dev, _byte) { \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#define PprzLogTransportPutInt64ByAddr(_dev, _byte) { \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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}
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#else
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#define PprzLogTransportPutDoubleByAddr(_dev, _byte) { \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#define PprzLogTransportPutUint64ByAddr(_dev, _byte) { \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#define PprzLogTransportPutInt64ByAddr(_dev, _byte) { \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte); \
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PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4); \
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}
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#endif
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#define PprzLogTransportPutInt8ByAddr(_dev, _x) PprzLogTransportPut1ByteByAddr(_dev, _x)
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#define PprzLogTransportPutUint8ByAddr(_dev, _x) PprzLogTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutInt16ByAddr(_dev, _x) PprzLogTransportPut2ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutUint16ByAddr(_dev, _x) PprzLogTransportPut2ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutInt32ByAddr(_dev, _x) PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutUint32ByAddr(_dev, _x) PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutFloatByAddr(_dev, _x) PprzLogTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutCharByAddr(_dev, _x) PprzLogTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
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#define PprzLogTransportPutArray(_dev, _put, _n, _x) { \
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uint8_t _i; \
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PprzLogTransportPutUint8(_dev, _n); \
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for(_i = 0; _i < _n; _i++) { \
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_put(_dev, &_x[_i]); \
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} \
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}
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#define PprzLogTransportPutInt8Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutInt8ByAddr, _n, _x)
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#define PprzLogTransportPutUint8Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutUint8ByAddr, _n, _x)
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#define PprzLogTransportPutCharArray(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutCharByAddr, _n, _x)
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#define PprzLogTransportPutInt16Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutInt16ByAddr, _n, _x)
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#define PprzLogTransportPutUint16Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutUint16ByAddr, _n, _x)
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#define PprzLogTransportPutInt32Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutInt32ByAddr, _n, _x)
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#define PprzLogTransportPutUint32Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutUint32ByAddr, _n, _x)
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#define PprzLogTransportPutFloatArray(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutFloatByAddr, _n, _x)
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#define PprzLogTransportPutInt64Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutInt64ByAddr, _n, _x)
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#define PprzLogTransportPutUint64Array(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutUint64ByAddr, _n, _x)
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#define PprzLogTransportPutDoubleArray(_dev, _n, _x) PprzLogTransportPutArray(_dev, PprzLogTransportPutDoubleByAddr, _n, _x)
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#define PprzLogTransportPutFixedArray(_dev, _put, _n, _x) { \
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uint8_t _i; \
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for(_i = 0; _i < _n; _i++) { \
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_put(_dev, &_x[_i]); \
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} \
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}
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#define PprzLogTransportPutInt8FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutInt8ByAddr, _n, _x)
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#define PprzLogTransportPutUint8FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutUint8ByAddr, _n, _x)
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#define PprzLogTransportPutCharFixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutCharByAddr, _n, _x)
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#define PprzLogTransportPutInt16FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutInt16ByAddr, _n, _x)
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#define PprzLogTransportPutUint16FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutUint16ByAddr, _n, _x)
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#define PprzLogTransportPutInt32FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutInt32ByAddr, _n, _x)
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#define PprzLogTransportPutUint32FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutUint32ByAddr, _n, _x)
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#define PprzLogTransportPutFloatFixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutFloatByAddr, _n, _x)
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#define PprzLogTransportPutInt64FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutInt64ByAddr, _n, _x)
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#define PprzLogTransportPutUint64FixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutUint64ByAddr, _n, _x)
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#define PprzLogTransportPutDoubleFixedArray(_dev, _n, _x) PprzLogTransportPutFixedArray(_dev, PprzLogTransportPutDoubleByAddr, _n, _x)
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#endif
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Gautier Hattenberger