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_set_mode.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/common/mavlink_msg_set_mode.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_set_mode.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,118 @@ +// MESSAGE SET_MODE PACKING + +#define MAVLINK_MSG_ID_SET_MODE 11 + +typedef struct __mavlink_set_mode_t +{ + uint8_t target; ///< The system setting the mode + uint8_t mode; ///< The new mode + +} mavlink_set_mode_t; + + + +/** + * @brief Pack a set_mode 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 target The system setting the mode + * @param mode The new mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, uint8_t mode) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SET_MODE; + + i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode + i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a set_mode 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 target The system setting the mode + * @param mode The new mode + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, uint8_t mode) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_SET_MODE; + + i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the mode + i += put_uint8_t_by_index(mode, i, msg->payload); // The new mode + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a set_mode 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 set_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode) +{ + return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target, set_mode->mode); +} + +/** + * @brief Send a set_mode message + * @param chan MAVLink channel to send the message + * + * @param target The system setting the mode + * @param mode The new mode + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target, uint8_t mode) +{ + mavlink_message_t msg; + mavlink_msg_set_mode_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, mode); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE SET_MODE UNPACKING + +/** + * @brief Get field target from set_mode message + * + * @return The system setting the mode + */ +static inline uint8_t mavlink_msg_set_mode_get_target(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload)[0]; +} + +/** + * @brief Get field mode from set_mode message + * + * @return The new mode + */ +static inline uint8_t mavlink_msg_set_mode_get_mode(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; +} + +/** + * @brief Decode a set_mode message into a struct + * + * @param msg The message to decode + * @param set_mode C-struct to decode the message contents into + */ +static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode) +{ + set_mode->target = mavlink_msg_set_mode_get_target(msg); + set_mode->mode = mavlink_msg_set_mode_get_mode(msg); +}