mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.3 KiB
C
52 lines
1.3 KiB
C
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/**
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* @copyright Copyright (c) 2021 Sagetech, Inc. All rights reserved.
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*
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* @file sgEncodeDataReq.c
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* @author Jacob.Garrison
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*
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* @date Feb 23, 2021
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*
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* This file receives a populated data request struct and
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* converts it into a data request message buffer.
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include "sg.h"
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#include "sgUtil.h"
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#define SG_PAYLOAD_LEN_DATAREQ SG_MSG_LEN_DATAREQ - 5 /// the payload length.
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#define PBASE 4 /// the payload offset.
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#define OFFSET_REQ_TYPE 0 /// the requested response message type
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#define OFFSET_RSVD_1 1 /// a reserved field
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#define OFFSET_RSVD_2 2 /// a reserved field
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#define OFFSET_RSVD_3 3 /// a reserved field
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/*
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* Documented in the header file.
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*/
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bool sgEncodeDataReq(uint8_t *buffer, sg_datareq_t *data, uint8_t msgId)
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{
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// populate header
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buffer[0] = SG_MSG_START_BYTE;
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buffer[1] = SG_MSG_TYPE_HOST_DATAREQ;
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buffer[2] = msgId;
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buffer[3] = SG_PAYLOAD_LEN_DATAREQ;
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// populate Request Type
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buffer[PBASE + OFFSET_REQ_TYPE] = data->reqType;
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// populate Reserved fields
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buffer[PBASE + OFFSET_RSVD_1] = 0;
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buffer[PBASE + OFFSET_RSVD_2] = 0;
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buffer[PBASE + OFFSET_RSVD_3] = 0;
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// populate checksum
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appendChecksum(buffer, SG_MSG_LEN_DATAREQ);
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return true;
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}
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