palm and chin / Communication_Robot

v1

Fork of Fork_Boss_Communication_Robot by BE@R lab

Utilities.h@11:3c11a0355a3e, 2016-03-21 (annotated)

Committer:
palmdotax
Date:
Mon Mar 21 20:20:42 2016 +0000
Revision:
11:3c11a0355a3e
Parent:
0:0c88691e3904 
007

Who changed what in which revision?

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soulx 0:0c88691e3904 1 /* Copyright (c) 2012 Georgios Petrou, MIT License
soulx 0:0c88691e3904 2 *
soulx 0:0c88691e3904 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
soulx 0:0c88691e3904 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
soulx 0:0c88691e3904 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
soulx 0:0c88691e3904 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
soulx 0:0c88691e3904 7 * furnished to do so, subject to the following conditions:
soulx 0:0c88691e3904 8 *
soulx 0:0c88691e3904 9 * The above copyright notice and this permission notice shall be included in all copies or
soulx 0:0c88691e3904 10 * substantial portions of the Software.
soulx 0:0c88691e3904 11 *
soulx 0:0c88691e3904 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
soulx 0:0c88691e3904 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
soulx 0:0c88691e3904 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
soulx 0:0c88691e3904 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
soulx 0:0c88691e3904 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
soulx 0:0c88691e3904 17 */
soulx 0:0c88691e3904 18
soulx 0:0c88691e3904 19 #ifndef MX28_UTILITIES_H
soulx 0:0c88691e3904 20 #define MX28_UTILITIES_H
soulx 0:0c88691e3904 21
soulx 0:0c88691e3904 22 #include "mbed.h"
soulx 0:0c88691e3904 23
soulx 0:0c88691e3904 24 /** MX28 utility functions class
soulx 0:0c88691e3904 25 */
soulx 0:0c88691e3904 26 class Utilities
soulx 0:0c88691e3904 27 {
soulx 0:0c88691e3904 28 public:
soulx 0:0c88691e3904 29 /** Get the checksum for a packet.
soulx 0:0c88691e3904 30 *
soulx 0:0c88691e3904 31 * @param data The array of bytes.
soulx 0:0c88691e3904 32 * @param length The size of the array.
soulx 0:0c88691e3904 33 * @return checksum
soulx 0:0c88691e3904 34 */
soulx 0:0c88691e3904 35 static uint8_t GetCheckSum(const uint8_t *data, uint8_t length);
soulx 0:0c88691e3904 36
soulx 0:0c88691e3904 37 /** Convert a UInt16 number to array of chars.
soulx 0:0c88691e3904 38 *
soulx 0:0c88691e3904 39 * @param value The number value.
soulx 0:0c88691e3904 40 * @param data The array to store the conversion.
soulx 0:0c88691e3904 41 */
soulx 0:0c88691e3904 42 static void ConvertUInt16ToUInt8Array(uint16_t value, uint8_t* data);
soulx 0:0c88691e3904 43
soulx 0:0c88691e3904 44 /** Convert an Int16 number to array of chars.
soulx 0:0c88691e3904 45 *
soulx 0:0c88691e3904 46 * @param value The number value.
soulx 0:0c88691e3904 47 * @param data The array to store the conversion.
soulx 0:0c88691e3904 48 */
soulx 0:0c88691e3904 49 static void ConvertInt16ToUInt8Array(int16_t value, uint8_t* data);
soulx 0:0c88691e3904 50
soulx 0:0c88691e3904 51 /** Convert a UInt32 number to array of chars.
soulx 0:0c88691e3904 52 *
soulx 0:0c88691e3904 53 * @param value The number value.
soulx 0:0c88691e3904 54 * @param data The array to store the conversion.
soulx 0:0c88691e3904 55 */
soulx 0:0c88691e3904 56 static void ConvertUInt32ToUInt8Array(uint32_t value, uint8_t* data);
soulx 0:0c88691e3904 57
soulx 0:0c88691e3904 58 /** Convert an Int32 number to array of chars.
soulx 0:0c88691e3904 59 *
soulx 0:0c88691e3904 60 * @param value The number value.
soulx 0:0c88691e3904 61 * @param data The array to store the conversion.
soulx 0:0c88691e3904 62 */
soulx 0:0c88691e3904 63 static void ConvertInt32ToUInt8Array(int32_t value, uint8_t* data);
soulx 0:0c88691e3904 64
soulx 0:0c88691e3904 65 /** Convert an array of char to UInt16.
soulx 0:0c88691e3904 66 *
soulx 0:0c88691e3904 67 * @param data The array containing the chars.
soulx 0:0c88691e3904 68 * @return UInt16 converted number.
soulx 0:0c88691e3904 69 */
soulx 0:0c88691e3904 70 static uint16_t ConvertUInt8ArrayToUInt16(uint8_t* data);
soulx 0:0c88691e3904 71
soulx 0:0c88691e3904 72 /** Convert an array of char to Int16.
soulx 0:0c88691e3904 73 *
soulx 0:0c88691e3904 74 * @param data The array containing the chars.
soulx 0:0c88691e3904 75 * @return Int16 converted number.
soulx 0:0c88691e3904 76 */
soulx 0:0c88691e3904 77 static int16_t ConvertUInt8ArrayToInt16(uint8_t* data);
soulx 0:0c88691e3904 78
soulx 0:0c88691e3904 79 /** Convert an array of char to Int32.
soulx 0:0c88691e3904 80 *
soulx 0:0c88691e3904 81 * @param data The array containing the chars.
soulx 0:0c88691e3904 82 * @return Int32 number.
soulx 0:0c88691e3904 83 */
soulx 0:0c88691e3904 84 static int32_t ConvertUInt8ArrayToInt32(uint8_t* data);
soulx 0:0c88691e3904 85 };
soulx 0:0c88691e3904 86
soulx 0:0c88691e3904 87 #endif // MX28_UTILITIES_H
soulx 0:0c88691e3904 88