Inline example

example.tex

\begin{lstlisting}[caption={Packing routine for input control}, label={lst:code-packing}]
static void pack_msg_input_ctrl (msg_data_input_ctrl *data, unsigned char *b) {
	b[0] = data->desired_phi >> 8;      b[1] = data->desired_phi & 0xFF; 
	b[2] = data->desired_theta >> 8;    b[3] = data->desired_theta & 0xFF;
	b[4] = data->desired_sr >> 8;       b[5] = data->desired_sr & 0xFF;
	b[6] = data->desired_lift >> 8;     b[7] = data->desired_lift & 0xFF;
	b[8] = data->P >> 8;                b[9] = data->P & 0xFF;
	b[10] = data->P1 >> 8;              b[11] = data->P1 & 0xFF;
	b[12] = data->P2 >> 8;              b[13] = data->P2 & 0xFF;
	b[14] = data->H >> 8;               b[15] = data->H & 0xFF;

\end{lstlisting}