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_boot.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_boot.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,106 @@ +// MESSAGE BOOT PACKING + +#define MAVLINK_MSG_ID_BOOT 1 + +typedef struct __mavlink_boot_t +{ + uint32_t version; ///< The onboard software version + +} mavlink_boot_t; + + + +/** + * @brief Pack a boot 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 version The onboard software version + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_boot_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t version) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_BOOT; + + i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a boot 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 version The onboard software version + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_boot_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t version) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_BOOT; + + i += put_uint32_t_by_index(version, i, msg->payload); // The onboard software version + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a boot 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 boot C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_boot_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_boot_t* boot) +{ + return mavlink_msg_boot_pack(system_id, component_id, msg, boot->version); +} + +/** + * @brief Send a boot message + * @param chan MAVLink channel to send the message + * + * @param version The onboard software version + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_boot_send(mavlink_channel_t chan, uint32_t version) +{ + mavlink_message_t msg; + mavlink_msg_boot_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, version); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE BOOT UNPACKING + +/** + * @brief Get field version from boot message + * + * @return The onboard software version + */ +static inline uint32_t mavlink_msg_boot_get_version(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload)[0]; + r.b[2] = (msg->payload)[1]; + r.b[1] = (msg->payload)[2]; + r.b[0] = (msg->payload)[3]; + return (uint32_t)r.i; +} + +/** + * @brief Decode a boot message into a struct + * + * @param msg The message to decode + * @param boot C-struct to decode the message contents into + */ +static inline void mavlink_msg_boot_decode(const mavlink_message_t* msg, mavlink_boot_t* boot) +{ + boot->version = mavlink_msg_boot_get_version(msg); +}