From dc1d5f77afb0a90281ffabfde8a91706c6d6203e Mon Sep 17 00:00:00 2001
From: PgSocks <pgsocks@pm.me>
Date: Sun, 25 Dec 2022 01:13:25 -0600
Subject: [PATCH] Add Set SDK Mode message

---
 src/robomaster.c |  8 ++++++++
 src/robomaster.h | 16 +++++++++++++++-
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/robomaster.c b/src/robomaster.c
index 520c554..49179a1 100644
--- a/src/robomaster.c
+++ b/src/robomaster.c
@@ -66,6 +66,14 @@ set_sdk_connection_req_new(
     return message_new(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(msg), &msg);
 }
 
+const Message
+set_sdk_mode_req_new(
+		Client session,
+		bool enable ) {
+    const struct SetSdkModeReq msg = { enable };
+    return message_new(session, 0x3F, SET_SDK_MODE_CMDID, sizeof(msg), &msg);
+}
+
 const Message
 set_system_led_req_new (
 		Client session,
diff --git a/src/robomaster.h b/src/robomaster.h
index 2bf6e18..55a553b 100644
--- a/src/robomaster.h
+++ b/src/robomaster.h
@@ -115,7 +115,7 @@ enum CONNECTION {
     CONNECTION_WIFI_AP = 0,
     CONNECTION_WIFI_STA = 1,
     CONNECTION_USB_RNDIS = 2
-}
+};
 
 struct PACKED SetSdkConnectionReq {
     uint8_t control;
@@ -138,6 +138,20 @@ const Message set_sdk_connection_req_new(
 		uint32_t ip_address,
 		uint16_t port );
 
+static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
+
+struct PACKED SetSdkModeReq {
+    uint8_t enable;
+};
+
+struct PACKED SetSdkModeResp {
+    uint8_t retcode;
+};
+
+const Message set_sdk_mode_req_new(
+		Client session,
+		bool enable );
+
 static const uint8_t GET_VERSION_CMDID = 0x01;
 
 // NOTE: No GetVersion request body