robomaster-sdk/src/message.c

#include "message.h"
#include "crc.h"

enum MESSAGEERR
message_validate(const union Message* message) {

    uint16_t length = (message->header.length_h & 0x3) * 0xFF + message->header.length_l;

    if(message->header.crc != crc8(message, 3))
        return MESSAGEERR_HEADERCRC;

    struct Footer* footer = (void*)message + length - sizeof(struct Footer);
    if(footer->crc != crc16(message, length - sizeof(struct Footer)))
        return MESSAGEERR_FOOTERCRC;

    return MESSAGEERR_NONE;
}