mirror of https://github.com/ArduPilot/ardupilot
103 lines
5.0 KiB
C
103 lines
5.0 KiB
C
// scaledencode.h was generated by ProtoGen version 2.18.c
|
|
|
|
#ifndef _SCALEDENCODE_H
|
|
#define _SCALEDENCODE_H
|
|
|
|
// C++ compilers: don't mangle us
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/*!
|
|
* \file
|
|
* scaledencode routines place scaled numbers into a byte stream.
|
|
*
|
|
* scaledencode routines place scaled values into a big or little endian byte
|
|
* stream. The values can be any legitimate type (double, float, uint32_t,
|
|
* uint16_t, uint8_t, int32_t, int16_t, int8_t), and are encoded as either a
|
|
* unsigned or signed integer from 1 to 8 bytes in length. Unsigned encodings
|
|
* allow the caller to specify a minimum and a maximum value, with the only
|
|
* limitation that the maximum value must be more than the minimum. Signed
|
|
* encodings only allow the caller to specify a maximum value which gives
|
|
* maximum absolute value that can be encoded.
|
|
*
|
|
* An example encoding would be: take a float that represents speed in meters
|
|
* per second and encode it in two bytes from -200 to 200 meters per second.
|
|
* In that example the encoding function would be:
|
|
*
|
|
* floatScaledTo2SignedBeBytes(speed, bytestream, &index, 200);
|
|
*
|
|
* This would scale the speed according to (32767/200), and copy the resulting
|
|
* two bytes to bytestream[index] as a signed 16 bit number in big endian
|
|
* order. This would result in a velocity resolution of 0.006 m/s.
|
|
*
|
|
* Another example encoding is: take a double that represents altitude in
|
|
* meters and encode it in three bytes from -1000 to 49000 meters:
|
|
*
|
|
* doubleScaledTo3UnsignedLeBytes(alt, bytestream, &index, -1000, 49000);
|
|
*
|
|
* This would transform the altitude according to (alt *(16777215/50000) + 1000)
|
|
* and copy the resulting three bytes to bytestream[index] as an unsigned 24
|
|
* bit number in little endian order. This would result in an altitude
|
|
* resolution of 0.003 meters.
|
|
*
|
|
* scaledencode does not include routines that increase the resolution of the
|
|
* source value. For example the function floatScaledTo5UnsignedBeBytes() does
|
|
* not exist, because expanding a float to 5 bytes does not make any resolution
|
|
* improvement over encoding it in 4 bytes. In general the encoded format
|
|
* must be equal to or less than the number of bytes of the raw data.
|
|
*/
|
|
|
|
#define __STDC_CONSTANT_MACROS
|
|
#include <stdint.h>
|
|
|
|
//! Scale a float32 to the base integer type used for bitfield
|
|
unsigned int float32ScaledToBitfield(float value, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 4 unsigned bytes in big endian order.
|
|
void float32ScaledTo4UnsignedBeBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 4 unsigned bytes in little endian order.
|
|
void float32ScaledTo4UnsignedLeBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 4 signed bytes in big endian order.
|
|
void float32ScaledTo4SignedBeBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 4 signed bytes in little endian order.
|
|
void float32ScaledTo4SignedLeBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 3 unsigned bytes in big endian order.
|
|
void float32ScaledTo3UnsignedBeBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 3 unsigned bytes in little endian order.
|
|
void float32ScaledTo3UnsignedLeBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 3 signed bytes in big endian order.
|
|
void float32ScaledTo3SignedBeBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 3 signed bytes in little endian order.
|
|
void float32ScaledTo3SignedLeBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 2 unsigned bytes in big endian order.
|
|
void float32ScaledTo2UnsignedBeBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 2 unsigned bytes in little endian order.
|
|
void float32ScaledTo2UnsignedLeBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 2 signed bytes in big endian order.
|
|
void float32ScaledTo2SignedBeBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 2 signed bytes in little endian order.
|
|
void float32ScaledTo2SignedLeBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 1 unsigned byte.
|
|
void float32ScaledTo1UnsignedBytes(float value, uint8_t* bytes, int* index, float min, float scaler);
|
|
|
|
//! Encode a float on a byte stream by scaling to fit in 1 signed byte.
|
|
void float32ScaledTo1SignedBytes(float value, uint8_t* bytes, int* index, float scaler);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif
|