mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.9 KiB
C
64 lines
1.9 KiB
C
/**
|
|
* @copyright Copyright (c) 2021 Sagetech, Inc. All rights reserved.
|
|
*
|
|
* @file sgEncodeTargetReq.c
|
|
* @author Jacob.Garrison
|
|
*
|
|
* @date Feb 19, 2021
|
|
*
|
|
* This file receives a populated target request struct and
|
|
* converts it into a target request message buffer.
|
|
*/
|
|
|
|
#include <stdbool.h>
|
|
#include <stdlib.h>
|
|
|
|
#include "sg.h"
|
|
#include "sgUtil.h"
|
|
|
|
#define SG_PAYLOAD_LEN_TARGETREQ SG_MSG_LEN_TARGETREQ - 5 /// the payload length.
|
|
|
|
#define PBASE 4 /// the payload offset.
|
|
|
|
#define OFFSET_REQ_TYPE 0 /// the adsb reporting type and transmit port offset
|
|
#define OFFSET_MAX_TARGETS 1 /// the maximum number of targets offset
|
|
#define OFFSET_ICAO 3 /// the requested target icao offset
|
|
#define OFFSET_REPORTS 6 /// the requested report type offset
|
|
/*
|
|
* Documented in the header file.
|
|
*/
|
|
bool sgEncodeTargetReq(uint8_t *buffer, sg_targetreq_t *tgt, uint8_t msgId)
|
|
{
|
|
|
|
// populate header
|
|
buffer[0] = SG_MSG_START_BYTE;
|
|
buffer[1] = SG_MSG_TYPE_HOST_TARGETREQ;
|
|
buffer[2] = msgId;
|
|
buffer[3] = SG_PAYLOAD_LEN_TARGETREQ;
|
|
|
|
// populate Request Type
|
|
buffer[PBASE + OFFSET_REQ_TYPE] = tgt->transmitPort << 6 |
|
|
tgt->reqType;
|
|
|
|
// populate Max Targets
|
|
uint162Buf(&buffer[PBASE + OFFSET_MAX_TARGETS], tgt->maxTargets);
|
|
|
|
// populate Requested ICAO
|
|
icao2Buf(&buffer[PBASE + OFFSET_ICAO], tgt->icao);
|
|
|
|
// populated Requested Reports
|
|
buffer[PBASE + OFFSET_REPORTS] = tgt->ownship << 7 |
|
|
tgt->commA << 6 |
|
|
tgt->military << 5 |
|
|
tgt->tisb << 4 |
|
|
tgt->airRefVel << 3 |
|
|
tgt->targetState << 2 |
|
|
tgt->modeStatus << 1 |
|
|
tgt->stateVector;
|
|
|
|
// populate checksum
|
|
appendChecksum(buffer, SG_MSG_LEN_TARGETREQ);
|
|
|
|
return true;
|
|
}
|