sbgEComBinaryLogMag.c

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#include "sbgEComBinaryLogMag.h"

//----------------------------------------------------------------------//
//- Operations                                                         -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComBinaryLogParseMagData(SbgStreamBuffer *pInputStream, SbgLogMag *pOutputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pInputStream);
        SBG_ASSERT(pOutputData);

        //
        // Read the frame payload
        //
        pOutputData->timeStamp                  = sbgStreamBufferReadUint32LE(pInputStream);
        pOutputData->status                             = sbgStreamBufferReadUint16LE(pInputStream);

        pOutputData->magnetometers[0]   = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->magnetometers[1]   = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->magnetometers[2]   = sbgStreamBufferReadFloatLE(pInputStream);
                                
        pOutputData->accelerometers[0]  = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->accelerometers[1]  = sbgStreamBufferReadFloatLE(pInputStream);
        pOutputData->accelerometers[2]  = sbgStreamBufferReadFloatLE(pInputStream);

        //
        // Return if any error has occurred while parsing the frame
        //
        return sbgStreamBufferGetLastError(pInputStream);
}

SbgErrorCode sbgEComBinaryLogWriteMagData(SbgStreamBuffer *pOutputStream, const SbgLogMag *pInputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pOutputStream);
        SBG_ASSERT(pInputData);

        //
        // Write the frame payload
        //
        sbgStreamBufferWriteUint32LE(pOutputStream, pInputData->timeStamp);
        sbgStreamBufferWriteUint16LE(pOutputStream, pInputData->status);
        
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->magnetometers[0]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->magnetometers[1]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->magnetometers[2]);
                
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->accelerometers[0]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->accelerometers[1]);
        sbgStreamBufferWriteFloatLE(pOutputStream, pInputData->accelerometers[2]);

        //
        // Return if any error has occurred while writing the frame
        //
        return sbgStreamBufferGetLastError(pOutputStream);
}

SbgErrorCode sbgEComBinaryLogParseMagCalibData(SbgStreamBuffer *pInputStream, SbgLogMagCalib *pOutputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pInputStream);
        SBG_ASSERT(pOutputData);

        //
        // Read the frame payload
        //
        pOutputData->timeStamp  = sbgStreamBufferReadUint32LE(pInputStream);
        pOutputData->reserved   = sbgStreamBufferReadUint16LE(pInputStream);

        //
        // Read the raw magnetic calibration data buffer
        //
        return sbgStreamBufferReadBuffer(pInputStream, pOutputData->magData, sizeof(pOutputData->magData));
}

SbgErrorCode sbgEComBinaryLogWriteMagCalibData(SbgStreamBuffer *pOutputStream, const SbgLogMagCalib *pInputData)
{
        //
        // Check input arguments
        //
        SBG_ASSERT(pOutputStream);
        SBG_ASSERT(pInputData);

        //
        // Write the frame payload
        //
        sbgStreamBufferWriteUint32LE(pOutputStream, pInputData->timeStamp);
        sbgStreamBufferWriteUint16LE(pOutputStream, pInputData->reserved);

        //
        // Write the raw magnetic calibration data buffer
        //
        return sbgStreamBufferWriteBuffer(pOutputStream, pInputData->magData, sizeof(pInputData->magData));
}