Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
Diff: MAVlink/include/common/mavlink_msg_auth_key.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_auth_key.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,104 @@ +// MESSAGE AUTH_KEY PACKING + +#define MAVLINK_MSG_ID_AUTH_KEY 7 + +typedef struct __mavlink_auth_key_t +{ + char key[32]; ///< key + +} mavlink_auth_key_t; + +#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32 + + +/** + * @brief Pack a auth_key message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param key key + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const char* key) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; + + i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a auth_key message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param key key + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const char* key) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_AUTH_KEY; + + i += put_array_by_index((const int8_t*)key, sizeof(char)*32, i, msg->payload); // key + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a auth_key struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param auth_key C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key) +{ + return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key); +} + +/** + * @brief Send a auth_key message + * @param chan MAVLink channel to send the message + * + * @param key key + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char* key) +{ + mavlink_message_t msg; + mavlink_msg_auth_key_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, key); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE AUTH_KEY UNPACKING + +/** + * @brief Get field key from auth_key message + * + * @return key + */ +static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char* r_data) +{ + + memcpy(r_data, msg->payload, sizeof(char)*32); + return sizeof(char)*32; +} + +/** + * @brief Decode a auth_key message into a struct + * + * @param msg The message to decode + * @param auth_key C-struct to decode the message contents into + */ +static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key) +{ + mavlink_msg_auth_key_get_key(msg, auth_key->key); +}