sbgEComCmdFeatures.c

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#include "sbgEComCmdFeatures.h"
#include <streamBuffer/sbgStreamBuffer.h>
 
//----------------------------------------------------------------------//
//- Features commands                                                  -//
//----------------------------------------------------------------------//
 
SbgErrorCode sbgEComCmdGetFeatures(SbgEComHandle *pHandle, SbgEComFeatures *pFeatures)
{
        SbgErrorCode            errorCode = SBG_NO_ERROR;
        uint32_t                        trial;
        size_t                          receivedSize;
        uint8_t                         receivedBuffer[SBG_ECOM_MAX_BUFFER_SIZE];
        SbgStreamBuffer         inputStream;
 
        assert(pHandle);
        assert(pFeatures);
 
        //
        // Send the command three times
        //
        for (trial = 0; trial < pHandle->numTrials; trial++)
        {
                //
                // Send the command only since this is a no-payload command
                //
                errorCode = sbgEComProtocolSend(&pHandle->protocolHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_FEATURES, NULL, 0);
 
                //
                // Make sure that the command has been sent
                //
                if (errorCode == SBG_NO_ERROR)
                {
                        //
                        // Try to read the device answer for 500 ms
                        //
                        errorCode = sbgEComReceiveCmd(pHandle, SBG_ECOM_CLASS_LOG_CMD_0, SBG_ECOM_CMD_FEATURES, receivedBuffer, &receivedSize, sizeof(receivedBuffer), pHandle->cmdDefaultTimeOut);
 
                        //
                        // Test if we have received a SBG_ECOM_CMD_GPS_FEATURES command
                        //
                        if (errorCode == SBG_NO_ERROR)
                        {
                                //
                                // Initialize stream buffer to read parameters
                                //
                                sbgStreamBufferInitForRead(&inputStream, receivedBuffer, receivedSize);
 
                                //
                                // Read parameters
                                //
                                pFeatures->sensorFeaturesMask   =  sbgStreamBufferReadUint32LE(&inputStream);
                                pFeatures->gnssType                             = (SbgEComGnssType)sbgStreamBufferReadUint8LE(&inputStream);
                                pFeatures->gnssUpdateRate               = sbgStreamBufferReadUint8LE(&inputStream);
                                pFeatures->gnssSignalsMask              = sbgStreamBufferReadUint32LE(&inputStream);
                                pFeatures->gnssFeaturesMask             = sbgStreamBufferReadUint32LE(&inputStream);
                                sbgStreamBufferReadBuffer(&inputStream, pFeatures->gnssProductCode, 32*sizeof(char));
                                sbgStreamBufferReadBuffer(&inputStream, pFeatures->gnssSerialNumber, 32*sizeof(char));
 
                                //
                                // The command has been executed successfully so return
                                //
                                break;
                        }
                }
                else
                {
                        //
                        // We have a write error so exit the try loop
                        //
                        break;
                }
        }
        
        return errorCode;
}