mirror of https://github.com/ArduPilot/ardupilot
109 lines
4.6 KiB
C
109 lines
4.6 KiB
C
// fieldencode.h was generated by ProtoGen version 2.18.c
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#ifndef _FIELDENCODE_H
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#define _FIELDENCODE_H
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// C++ compilers: don't mangle us
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* \file
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* fieldencode provides routines to place numbers into a byte stream.
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*
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* fieldencode provides routines to place numbers in local memory layout into
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* a big or little endian byte stream. The byte stream is simply a sequence of
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* bytes, as might come from the data payload of a packet.
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*
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* Support is included for non-standard types such as unsigned 24. When
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* working with nonstandard types the data in memory are given using the next
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* larger standard type. For example an unsigned 24 is actually a uint32_t in
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* which the most significant byte is clear, and only the least significant
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* three bytes are placed into a byte stream
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*
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* Big or Little Endian refers to the order that a computer architecture will
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* place the bytes of a multi-byte word into successive memory locations. For
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* example the 32-bit number 0x01020304 can be placed in successive memory
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* locations in Big Endian: [0x01][0x02][0x03][0x04]; or in Little Endian:
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* [0x04][0x03][0x02][0x01]. The names "Big Endian" and "Little Endian" come
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* from Swift's Gulliver's travels, referring to which end of an egg should be
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* opened. The choice of name is made to emphasize the degree to which the
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* choice of memory layout is un-interesting, as long as one stays within the
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* local memory.
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*
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* When transmitting data from one computer to another that assumption no
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* longer holds. In computer-to-computer transmission there are three endians
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* to consider: the endianness of the sender, the receiver, and the protocol
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* between them. A protocol is Big Endian if it sends the most significant
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* byte first and the least significant last. If the computer and the protocol
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* have the same endianness then encoding data from memory into a byte stream
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* is a simple copy. However if the endianness is not the same then bytes must
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* be re-ordered for the data to be interpreted correctly.
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*/
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#define __STDC_CONSTANT_MACROS
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#include <stdint.h>
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//! Encode a null terminated string on a byte stream
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void stringToBytes(const char* string, uint8_t* bytes, int* index, int maxLength, int fixedLength);
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//! Copy an array of bytes to a byte stream without changing the order.
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void bytesToBeBytes(const uint8_t* data, uint8_t* bytes, int* index, int num);
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//! Copy an array of bytes to a byte stream while reversing the order.
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void bytesToLeBytes(const uint8_t* data, uint8_t* bytes, int* index, int num);
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//! Encode a 4 byte float on a big endian byte stream.
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void float32ToBeBytes(float number, uint8_t* bytes, int* index);
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//! Encode a 4 byte float on a little endian byte stream.
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void float32ToLeBytes(float number, uint8_t* bytes, int* index);
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//! Encode a unsigned 4 byte integer on a big endian byte stream.
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void uint32ToBeBytes(uint32_t number, uint8_t* bytes, int* index);
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//! Encode a unsigned 4 byte integer on a little endian byte stream.
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void uint32ToLeBytes(uint32_t number, uint8_t* bytes, int* index);
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//! Encode a signed 4 byte integer on a big endian byte stream.
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void int32ToBeBytes(int32_t number, uint8_t* bytes, int* index);
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//! Encode a signed 4 byte integer on a little endian byte stream.
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void int32ToLeBytes(int32_t number, uint8_t* bytes, int* index);
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//! Encode a unsigned 3 byte integer on a big endian byte stream.
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void uint24ToBeBytes(uint32_t number, uint8_t* bytes, int* index);
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//! Encode a unsigned 3 byte integer on a little endian byte stream.
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void uint24ToLeBytes(uint32_t number, uint8_t* bytes, int* index);
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//! Encode a signed 3 byte integer on a big endian byte stream.
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void int24ToBeBytes(int32_t number, uint8_t* bytes, int* index);
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//! Encode a signed 3 byte integer on a little endian byte stream.
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void int24ToLeBytes(int32_t number, uint8_t* bytes, int* index);
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//! Encode a unsigned 2 byte integer on a big endian byte stream.
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void uint16ToBeBytes(uint16_t number, uint8_t* bytes, int* index);
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//! Encode a unsigned 2 byte integer on a little endian byte stream.
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void uint16ToLeBytes(uint16_t number, uint8_t* bytes, int* index);
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//! Encode a signed 2 byte integer on a big endian byte stream.
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void int16ToBeBytes(int16_t number, uint8_t* bytes, int* index);
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//! Encode a signed 2 byte integer on a little endian byte stream.
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void int16ToLeBytes(int16_t number, uint8_t* bytes, int* index);
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//! Encode a unsigned 1 byte integer on a byte stream.
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#define uint8ToBytes(number, bytes, index) (bytes)[(*(index))++] = ((uint8_t)(number))
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//! Encode a signed 1 byte integer on a byte stream.
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#define int8ToBytes(number, bytes, index) (bytes)[(*(index))++] = ((int8_t)(number))
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#ifdef __cplusplus
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}
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#endif
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#endif
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