bits.c

/*
 * Copyright (C) 2018 Swift Navigation Inc.
 * Contact: Swift Navigation <[email protected]>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
 
*/

#include <rtcm3/bits.h>

/** Get bit field from buffer as an unsigned integer.
 * Unpacks `len` bits at bit position `pos` from the start of the buffer.
 * Maximum bit field length is 32 bits, i.e. `len <= 32`.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \return Bit field as an unsigned value.
 
 
*/
uint32_t rtcm_getbitu(const uint8_t *buff, uint32_t pos, uint8_t len) {
  uint32_t bits = 0;

  for (uint32_t i = pos; i < pos + len; i++) {
    bits = (bits << 1) + ((buff[i / 8] >> (7 - i % 8)) & 1u);
  }

  return bits;
}

/** Get bit field from buffer as an unsigned long integer.
 * Unpacks `len` bits at bit position `pos` from the start of the buffer.
 * Maximum bit field length is 64 bits, i.e. `len <= 64`.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \return Bit field as an unsigned value.
 
 
*/
uint64_t rtcm_getbitul(const uint8_t *buff, uint32_t pos, uint8_t len) {
  uint64_t bits = 0;

  for (uint32_t i = pos; i < pos + len; i++) {
    bits = (bits << 1) + ((buff[i / 8] >> (7 - i % 8)) & 1u);
  }

  return bits;
}

/** Get bit field from buffer as a signed integer.
 * Unpacks `len` bits at bit position `pos` from the start of the buffer.
 * Maximum bit field length is 32 bits, i.e. `len <= 32`.
 *
 * This function sign extends the `len` bit field to a signed 32 bit integer.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \return Bit field as a signed value.
 */
int32_t rtcm_getbits(const uint8_t *buff, uint32_t pos, uint8_t len) {
  int32_t bits = (int32_t)rtcm_getbitu(buff, pos, len);

  /* Sign extend, taken from:
   * http://graphics.stanford.edu/~seander/bithacks.html#VariableSignExtend
   */
  int32_t m = 1u << (len - 1);
  return (bits ^ m) - m;
}

/** Get bit field from buffer as a signed integer.
 * Unpacks `len` bits at bit position `pos` from the start of the buffer.
 * Maximum bit field length is 64 bits, i.e. `len <= 64`.
 *
 * This function sign extends the `len` bit field to a signed 64 bit integer.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \return Bit field as a signed value.
 */
int64_t rtcm_getbitsl(const uint8_t *buff, uint32_t pos, uint8_t len) {
  int64_t bits = (int64_t)rtcm_getbitul(buff, pos, len);

  /* Sign extend, taken from:
   * http://graphics.stanford.edu/~seander/bithacks.html#VariableSignExtend
   */
  int64_t m = ((uint64_t)1) << (len - 1);
  return (bits ^ m) - m;
}

/** Set bit field in buffer from an unsigned integer.
 * Packs `len` bits into bit position `pos` from the start of the buffer.
 * Maximum bit field length is 32 bits, i.e. `len <= 32`.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \param data Unsigned integer to be packed into bit field.
 */
void rtcm_setbitu(uint8_t *buff, uint32_t pos, uint32_t len, uint32_t data) {
  uint32_t mask = 1u << (len - 1);

  if (len <= 0 || 32 < len) {
    return;
  }

  for (uint32_t i = pos; i < pos + len; i++, mask >>= 1) {
    if (data & mask) {
      buff[i / 8] |= 1u << (7 - i % 8);
    } else {
      buff[i / 8] &= ~(1u << (7 - i % 8));
    }
  }
}

/** Set bit field in buffer from an unsigned integer.
 * Packs `len` bits into bit position `pos` from the start of the buffer.
 * Maximum bit field length is 64 bits, i.e. `len <= 64`.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \param data Unsigned integer to be packed into bit field.
 */
void rtcm_setbitul(uint8_t *buff, uint32_t pos, uint32_t len, uint64_t data) {
  uint64_t mask = ((uint64_t)1) << (len - 1);

  if (len <= 0 || 64 < len) {
    return;
  }

  for (uint32_t i = pos; i < pos + len; i++, mask >>= 1) {
    if (data & mask) {
      buff[i / 8] |= ((uint64_t)1) << (7 - i % 8);
    } else {
      buff[i / 8] &= ~(((uint64_t)1) << (7 - i % 8));
    }
  }
}

/** Set bit field in buffer from a signed integer.
 * Packs `len` bits into bit position `pos` from the start of the buffer.
 * Maximum bit field length is 32 bits, i.e. `len <= 32`.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \param data Signed integer to be packed into bit field.
 */
void rtcm_setbits(uint8_t *buff, uint32_t pos, uint32_t len, int32_t data) {
  rtcm_setbitu(buff, pos, len, (uint32_t)data);
}

/** Set bit field in buffer from a signed integer.
 * Packs `len` bits into bit position `pos` from the start of the buffer.
 * Maximum bit field length is 32 bits, i.e. `len <= 32`.
 *
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \param data Signed integer to be packed into bit field.
 */
void rtcm_setbitsl(uint8_t *buff, uint32_t pos, uint32_t len, int64_t data) {
  rtcm_setbitul(buff, pos, len, (uint64_t)data);
}

/* Get sign-magnitude bits, See Note 1, Table 3.3-1, RTCM 3.3
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \return Bit field as a signed value.
 */
int32_t rtcm_get_sign_magnitude_bit(const uint8_t *buff,
                                    uint32_t pos,
                                    uint8_t len) {
  int32_t value = rtcm_getbitu(buff, pos + 1, len - 1);
  return rtcm_getbitu(buff, pos, 1) ? -value : value;
}

/* Set sign-magnitude bits, See Note 1, Table 3.3-1, RTCM 3.3
 * \param buff
 * \param pos Position in buffer of start of bit field in bits.
 * \param len Length of bit field in bits.
 * \data data to encode
 */
void rtcm_set_sign_magnitude_bit(uint8_t *buff,
                                 uint32_t pos,
                                 uint8_t len,
                                 int64_t data) {
  rtcm_setbitu(buff, pos, 1, (data < 0) ? 1 : 0);
  rtcm_setbitu(buff, pos + 1, len - 1, ((data < 0) ? -data : data));
}

bits.h

/*
 * Copyright (C) 2018 Swift Navigation Inc.
 * Contact: Swift Navigation <[email protected]>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

#ifndef SWIFTNAV_RTCM3_BITS_H
#define SWIFTNAV_RTCM3_BITS_H

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>

uint32_t rtcm_getbitu(const uint8_t *buff, uint32_t pos, uint8_t len);
uint64_t rtcm_getbitul(const uint8_t *buff, uint32_t pos, uint8_t len);
int32_t rtcm_getbits(const uint8_t *buff, uint32_t pos, uint8_t len);
int64_t rtcm_getbitsl(const uint8_t *buff, uint32_t pos, uint8_t len);
void rtcm_setbitu(uint8_t *buff, uint32_t pos, uint32_t len, uint32_t data);
void rtcm_setbitul(uint8_t *buff, uint32_t pos, uint32_t len, uint64_t data);
void rtcm_setbits(uint8_t *buff, uint32_t pos, uint32_t len, int32_t data);
void rtcm_setbitsl(uint8_t *buff, uint32_t pos, uint32_t len, int64_t data);
int32_t rtcm_get_sign_magnitude_bit(const uint8_t *buff,
                                    uint32_t pos,
                                    uint8_t len);
void rtcm_set_sign_magnitude_bit(uint8_t *buff,
                                    uint32_t pos,
                                    uint8_t len,
                                    int64_t data);
#ifdef __cplusplus
}
#endif

#endif /* SWIFTNAV_RTCM3_BITS_H */