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Merge branch 'main' into 'main'

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Declare integer packing in the appropriate header file

See merge request TheJackiMonster/nrealAirLinuxDriver!8
This commit is contained in:
Benjamin Blumer 2024-05-01 15:32:13 +00:00
commit ba30f1477f
2 changed files with 15 additions and 6 deletions
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9
interface_lib/include/device3.h
View file

@ -177,6 +177,15 @@ device3_euler_type device3_get_euler(device3_quat_type quat);
device3_error_type device3_close(device3_type* device);
int32_t pack32bit_signed(const uint8_t* data);
int32_t pack24bit_signed(const uint8_t* data);
int16_t pack16bit_signed(const uint8_t* data);
int32_t pack32bit_signed_swap(const uint8_t* data);
int16_t pack16bit_signed_swap(const uint8_t* data);
int16_t pack16bit_signed_bizarre(const uint8_t* data);
#ifdef __cplusplus
} // extern "C"
#endif

12
interface_lib/src/device3.c
View file

@ -458,33 +458,33 @@ static void device3_callback(device3_type* device,
device->callback(timestamp, event, device->ahrs);
}
static int32_t pack32bit_signed(const uint8_t* data) {
int32_t pack32bit_signed(const uint8_t* data) {
uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16) | (data[3] << 24);
return ((int32_t) unsigned_value);
}
static int32_t pack24bit_signed(const uint8_t* data) {
int32_t pack24bit_signed(const uint8_t* data) {
uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16);
if ((data[2] & 0x80) != 0) unsigned_value |= (0xFF << 24);
return ((int32_t) unsigned_value);
}
static int16_t pack16bit_signed(const uint8_t* data) {
int16_t pack16bit_signed(const uint8_t* data) {
uint16_t unsigned_value = (data[1] << 8) | (data[0]);
return (int16_t) unsigned_value;
}
static int32_t pack32bit_signed_swap(const uint8_t* data) {
int32_t pack32bit_signed_swap(const uint8_t* data) {
uint32_t unsigned_value = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | (data[3]);
return ((int32_t) unsigned_value);
}
static int16_t pack16bit_signed_swap(const uint8_t* data) {
int16_t pack16bit_signed_swap(const uint8_t* data) {
uint16_t unsigned_value = (data[0] << 8) | (data[1]);
return (int16_t) unsigned_value;
}
static int16_t pack16bit_signed_bizarre(const uint8_t* data) {
int16_t pack16bit_signed_bizarre(const uint8_t* data) {
uint16_t unsigned_value = (data[0]) | ((data[1] ^ 0x80) << 8);
return (int16_t) unsigned_value;
}