mirror of https://github.com/ArduPilot/ardupilot
35 lines
855 B
C++
35 lines
855 B
C++
#include "SIM_config.h"
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#if HAL_SIM_GPS_ENABLED
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#include "SIM_GPS_SBP_Common.h"
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#include <AP_Math/crc.h>
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using namespace SITL;
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void GPS_SBP_Common::sbp_send_message(uint16_t msg_type, uint16_t sender_id, uint8_t len, uint8_t *payload)
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{
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if (len != 0 && payload == 0) {
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return; //SBP_NULL_ERROR;
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}
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uint8_t preamble = 0x55;
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write_to_autopilot((char*)&preamble, 1);
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write_to_autopilot((char*)&msg_type, 2);
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write_to_autopilot((char*)&sender_id, 2);
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write_to_autopilot((char*)&len, 1);
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if (len > 0) {
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write_to_autopilot((char*)payload, len);
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}
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uint16_t crc;
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crc = crc16_ccitt((uint8_t*)&(msg_type), 2, 0);
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crc = crc16_ccitt((uint8_t*)&(sender_id), 2, crc);
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crc = crc16_ccitt(&(len), 1, crc);
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crc = crc16_ccitt(payload, len, crc);
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write_to_autopilot((char*)&crc, 2);
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}
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#endif
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