/* Packs command structure to SerialCommand object */
void SBGC_cmd_control_ext_pack(SBGC_cmd_control_ext_t &p, SerialCommand &cmd) {
	cmd.init(SBGC_CMD_CONTROL);
	#ifdef SBGC_CMD_STRUCT_ALIGNED
		memcpy(cmd.data, &p, sizeof(p));
		cmd.len = sizeof(p);
	#else
		cmd.writeBuf(p.mode, 3);
		for(uint8_t i=0; i<3; i++) {
			cmd.writeWord(p.data[i].speed);
			cmd.writeWord(p.data[i].angle);
		}
	#endif
}
/* Packs command structure to SerialCommand object */
void SBGC_cmd_set_adj_vars_pack(SBGC_cmd_set_adj_vars_var_t vars[], uint8_t vars_num, SerialCommand &cmd) {
	cmd.init(SBGC_CMD_SET_ADJ_VARS_VAL);
	cmd.writeByte(vars_num); // number of variables
	
	#ifdef SBGC_CMD_STRUCT_ALIGNED
		cmd.writeBuf(vars, sizeof(SBGC_cmd_set_adj_vars_var_t)*vars_num);
	#else
		for(uint8_t i=0; i<vars_num; i++) {
			cmd.writeByte(vars[i].id);
			cmd.writeLong(vars[i].val);
		}
	#endif
}