similar robotis communication v1.0 in this lib use for protocol to control and diagnotic robot
Fork of Communication_Robot by
Utilities.cpp
- Committer:
- soulx
- Date:
- 2015-03-01
- Revision:
- 0:0c88691e3904
File content as of revision 0:0c88691e3904:
/* Copyright (c) 2012 Georgios Petrou, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "Utilities.h" uint8_t Utilities::GetCheckSum(const uint8_t *data, uint8_t length) { uint8_t checkSum = 0; for(int i = 0; i < length; i++) checkSum += data[i]; checkSum = ~checkSum; return checkSum; } void Utilities::ConvertUInt16ToUInt8Array(uint16_t value, uint8_t* data) { data[0] = value; data[1] = value >> 8; } void Utilities::ConvertInt16ToUInt8Array(int16_t value, uint8_t* data) { data[0] = value; data[1] = value >> 8; } void Utilities::ConvertUInt32ToUInt8Array(uint32_t value, uint8_t* data) { data[0] = value; data[1] = value >> 8; data[2] = value >> 16; data[3] = value >> 24; } void Utilities::ConvertInt32ToUInt8Array(int32_t value, uint8_t* data) { data[0] = value; data[1] = value >> 8; data[2] = value >> 16; data[3] = value >> 24; } uint16_t Utilities::ConvertUInt8ArrayToUInt16(uint8_t* data) { return (((uint16_t)data[1]) << 8) | ((uint16_t)data[0]); } int16_t Utilities::ConvertUInt8ArrayToInt16(uint8_t* data) { return (((int16_t)data[1]) << 8) | ((int16_t)data[0]); } int32_t Utilities::ConvertUInt8ArrayToInt32(uint8_t* data) { return (((int32_t)data[3]) << 24) | (((int32_t)data[2]) << 16) | (((int32_t)data[1]) << 8) | ((int32_t)data[0]); }