I came across the following code to convert 16-bit numbers to 10-bit numbers and store it inside an integer. Could anyone maybe explain to me what exactly is happening with the AND 0x03?
// Convert the data to 10-bits
int xAccl = (((data[1] & 0x03) * 256) + data[0]);
if(xAccl > 511) {
xAccl -= 1024;
}
Link to where I got the code: https://www.instructables.com/id/Measurement-of-Acceleration-Using-ADXL345-and-Ardu/
The bitwise operator & will make a mask, so in this case, it voids the 6 highest bits of the integer.
Basically, this code does a modulo % 1024 (for unsigned values).
data[1] takes the 2nd byte; & 0x03 masks that byte with binary 11 - so: takes 2 bits; * 256 is the same as << 8 - i.e. pushes those 2 bits into the 9th and 10th positions; adding data[0] to data combines these two bytes (personally I'd have used |, not +).
So; xAccl is now the first 10 bits, using big-endian ordering.
The > 511 seems to be a sign check; essentially, it is saying "if the 10th bit is set, treat the entire thing as a negative integer as though we'd used 10-bit twos complement rules".
Related
So I have a little piece of code that takes 2 uint8_t's and places then next to each other, and then returns a uint16_t. The point is not adding the 2 variables, but putting them next to each other and creating a uint16_t from them.
The way I expect this to work is that when the first uint8_t is 0, and the second uint8_t is 1, I expect the uint16_t to also be one.
However, this is in my code not the case.
This is my code:
uint8_t *bytes = new uint8_t[2];
bytes[0] = 0;
bytes[1] = 1;
uint16_t out = *((uint16_t*)bytes);
It is supposed to make the bytes uint8_t pointer into a uint16_t pointer, and then take the value. I expect that value to be 1 since x86 is little endian. However it returns 256.
Setting the first byte to 1 and the second byte to 0 makes it work as expected. But I am wondering why I need to switch the bytes around in order for it to work.
Can anyone explain that to me?
Thanks!
There is no uint16_t or compatible object at that address, and so the behaviour of *((uint16_t*)bytes) is undefined.
I expect that value to be 1 since x86 is little endian. However it returns 256.
Even if the program was fixed to have well defined behaviour, your expectation is backwards. In little endian, the least significant byte is stored in the lowest address. Thus 2 byte value 1 is stored as 1, 0 and not 0, 1.
Does endianess also affect the order of the bit's in the byte or not?
There is no way to access a bit by "address"1, so there is no concept of endianness. When converting to text, bits are conventionally shown most significant on left and least on right; just like digits of decimal numbers. I don't know if this is true in right to left writing systems.
1 You can sort of create "virtual addresses" for bits using bitfields. The order of bitfields i.e. whether the first bitfield is most or least significant is implementation defined and not necessarily related to byte endianness at all.
Here is a correct way to set two octets as uint16_t. The result will depend on endianness of the system:
// no need to complicate a simple example with dynamic allocation
uint16_t out;
// note that there is an exception in language rules that
// allows accessing any object through narrow (unsigned) char
// or std::byte pointers; thus following is well defined
std::byte* data = reinterpret_cast<std::byte*>(&out);
data[0] = 1;
data[1] = 0;
Note that assuming that input is in native endianness is usually not a good choice, especially when compatibility across multiple systems is required, such as when communicating through network, or accessing files that may be shared to other systems.
In these cases, the communication protocol, or the file format typically specify that the data is in specific endianness which may or may not be the same as the native endianness of your target system. De facto standard in network communication is to use big endian. Data in particular endianness can be converted to native endianness using bit shifts, as shown in Frodyne's answer for example.
In a little endian system the small bytes are placed first. In other words: The low byte is placed on offset 0, and the high byte on offset 1 (and so on). So this:
uint8_t* bytes = new uint8_t[2];
bytes[0] = 1;
bytes[1] = 0;
uint16_t out = *((uint16_t*)bytes);
Produces the out = 1 result you want.
However, as you can see this is easy to get wrong, so in general I would recommend that instead of trying to place stuff correctly in memory and then cast it around, you do something like this:
uint16_t out = lowByte + (highByte << 8);
That will work on any machine, regardless of endianness.
Edit: Bit shifting explanation added.
x << y means to shift the bits in x y places to the left (>> moves them to the right instead).
If X contains the bit-pattern xxxxxxxx, and Y contains the bit-pattern yyyyyyyy, then (X << 8) produces the pattern: xxxxxxxx00000000, and Y + (X << 8) produces: xxxxxxxxyyyyyyyy.
(And Y + (X<<8) + (Z<<16) produces zzzzzzzzxxxxxxxxyyyyyyyy, etc.)
A single shift to the left is the same as multiplying by 2, so X << 8 is the same as X * 2^8 = X * 256. That means that you can also do: Y + (X*256) + (Z*65536), but I think the shifts are clearer and show the intent better.
Note that again: Endianness does not matter. Shifting 8 bits to the left will always clear the low 8 bits.
You can read more here: https://en.wikipedia.org/wiki/Bitwise_operation. Note the difference between Arithmetic and Logical shifts - in C/C++ unsigned values use logical shifts, and signed use arithmetic shifts.
If p is a pointer to some multi-byte value, then:
"Little-endian" means that the byte at p is the least-significant byte, in other words, it contains bits 0-7 of the value.
"Big-endian" means that the byte at p is the most-significant byte, which for a 16-bit value would be bits 8-15.
Since the Intel is little-endian, bytes[0] contains bits 0-7 of the uint16_t value and bytes[1] contains bits 8-15. Since you are trying to set bit 0, you need:
bytes[0] = 1; // Bits 0-7
bytes[1] = 0; // Bits 8-15
Your code works but your misinterpreted how to read "bytes"
#include <cstdint>
#include <cstddef>
#include <iostream>
int main()
{
uint8_t *in = new uint8_t[2];
in[0] = 3;
in[1] = 1;
uint16_t out = *((uint16_t*)in);
std::cout << "out: " << out << "\n in: " << in[1]*256 + in[0]<< std::endl;
return 0;
}
By the way, you should take care of alignment when casting this way.
One way to think in numbers is to use MSB and LSB order
which is MSB is the highest Bit and LSB ist lowest Bit for
Little Endian machines.
For ex.
(u)int32: MSB:Bit 31 ... LSB: Bit 0
(u)int16: MSB:Bit 15 ... LSB: Bit 0
(u)int8 : MSB:Bit 7 ... LSB: Bit 0
with your cast to a 16Bit value the Bytes will arrange like this
16Bit <= 8Bit 8Bit
MSB ... LSB BYTE[1] BYTE[0]
Bit15 Bit0 Bit7 .. 0 Bit7 .. 0
0000 0001 0000 0000 0000 0001 0000 0000
which is 256 -> correct value.
I'm currently working on bitwise operations but I am confused right now... Here's the scoop and why
I have a byte 0xCD in bits this is 1100 1101
I am shifting the bits left 7, then I'm saying & 0xFF since 0xFF in bits is 1111 1111
unsigned int bit = (0xCD << 7) & 0xFF<<7;
Now I would make the assumption that both 0xCD and 0xFF would get shifted to the left 7 times and the remaining bit would be 1&1 = 1 but I'm not getting that for output also I would also make the assumption that shifting 6 would give me bits 0&1 = 0 but I'm getting again a number above 1 like 205 0.o Is there something incorrect about the way I am trying to process bit shifting in my head? If so what is it that I am doing wrong?
Code Below:
unsigned char byte_now = 0xCD;
printf("Bits for byte_now: 0x%02x: ", byte_now);
/*
* We want to get the first bit in a byte.
* To do this we will shift the bits over 7 places for the last bit
* we will compare it to 0xFF since it's (1111 1111) if bit&1 then the bit is one
*/
unsigned int bit_flag = 0;
int bit_pos = 7;
bit_flag = (byte_now << bit_pos) & 0xFF;
printf("%d", bit_flag);
Is there something incorrect about the way I am trying to process bit shifting in my head?
There seems to be.
If so what is it that I am doing wrong?
That's unclear, so I offer a reasonably full explanation.
In the first place, it is important to understand that C does not not perform any arithmetic directly on integers smaller than int. Consider, then, your expression byte_now << bit_pos. "The usual arithmetic promotions" are performed on the operands, resulting in the left operand being converted to the int value 0xCD. The result has the same pattern of least-significant value bits as bit_flag, but also a bunch of leading zero bits.
Left shifting the result by 7 bits produces the bit pattern 110 0110 1000 0000, equivalent to 0x6680. You then perform a bitwise and operation on the result, masking off all but the least-significant 8 bits, thus yielding 0x80. What happens when you assign that to bit_flag depends on the type of that variable, but if it is an integer type that is either unsigned or has more than 7 value bits then the assignment is well-defined and value-preserving. Note that it is bit 7 that is nonzero, not bit 0.
The type of bit_flag is more important when you pass it to printf(). You've paired it with a %d field descriptor, which is correct if bit_flag has type int and incorrect otherwise. If bit_flag does have type int, then I would expect the program to print 128.
I have two bytes read from a sensor over I2C, these are stored as unsigned char. I do know which is the most significant byte, and which is the least significant byte.
unsigned char yawMSB;
unsigned char yawLSB;
How would I go about converting these two bytes of data, into a single int?
I've had this implemented properly in C# using
BitConverter.ToInt16(new byte[] { yawLSB, yawMSB }, 0)
In a 16-bit integer, the top 8 bits are the most significant byte, and the low 8 bits are the least significant byte.
To make the most significant byte occupy the top bits, you need to shift its value up (by 8 bits), which is done with the left-shift bitwise operator <<.
Then to get the least significant byte you just add the low 8 bits using bitwise or |.
Put together it will be something like yawMSB << 8 | yawLSB.
I do know which is the most significant byte, and which is the least significant byte.
MSB means Most Significant byte.
LSB means Least Significant byte.
How would I go about converting these two bytes of data, into a single float?
You can then build a float whose value is:
const float yaw = yawMSB << 8 + yawLSB;
Actually, the value yawMSB << 8 + yawLSB is probably on a scale defined by your implementation. If it is true, and if it is a linear scale from 0 to MAX_YAW, you should define your value as:
const float yaw = float(yawMSB << 8 + yawLSB) / MAX_YAW; // gives yaw in [0.f, 1.f].
I need a function to read n bits starting from bit x(bit index should start from zero), and if the result is not byte aligned, pad it with zeros. The function will receive uint8_t array on the input, and should return uint8_t array as well. For example, I have file with following contents:
1011 0011 0110 0000
Read three bits from the third bit(x=2,n=3); Result:
1100 0000
There's no (theoretical) limit on input and bit pattern lengths
Implementing such a bitfield extraction efficiently without beyond the direct bit-serial algorithm isn't precisely hard but a tad cumbersome.
Effectively it boils down to an innerloop reading a pair of bytes from the input for each output byte, shifting the resulting word into place based on the source bit-offset, and writing back the upper or lower byte. In addition the final output byte is masked based on the length.
Below is my (poorly-tested) attempt at an implementation:
void extract_bitfield(unsigned char *dstptr, const unsigned char *srcptr, size_t bitpos, size_t bitlen) {
// Skip to the source byte covering the first bit of the range
srcptr += bitpos / CHAR_BIT;
// Similarly work out the expected, inclusive, final output byte
unsigned char *endptr = &dstptr[bitlen / CHAR_BIT];
// Truncate the bit-positions to offsets within a byte
bitpos %= CHAR_BIT;
bitlen %= CHAR_BIT;
// Scan through and write out a correctly shifted version of every destination byte
// via an intermediate shifter register
unsigned long accum = *srcptr++;
while(dstptr <= endptr) {
accum = accum << CHAR_BIT | *srcptr++;
*dstptr++ = accum << bitpos >> CHAR_BIT;
}
// Mask out the unwanted LSB bits not covered by the length
*endptr &= ~(UCHAR_MAX >> bitlen);
}
Beware that the code above may read past the end of the source buffer and somewhat messy special handling is required if you can't set up the overhead to allow this. It also assumes sizeof(long) != 1.
Of course to get efficiency out of this you will want to use as wide of a native word as possible. However if the target buffer necessarily word-aligned then things get even messier. Furthermore little-endian systems will need byte swizzling fix-ups.
Another subtlety to take heed of is the potential inability to shift a whole word, that is shift counts are frequently interpreted modulo the word length.
Anyway, happy bit-hacking!
Basically it's still a bunch of shift and addition operations.
I'll use a slightly larger example to demonstrate this.
Suppose we are give an input of 4 characters, and x = 10, n = 18.
00101011 10001001 10101110 01011100
First we need to locate the character contains our first bit, by x / 8, which gives us 1 (the second character) in this case. We also need the offset in that character, by x % 8, which equals to 2.
Now we can get out first character of the solution in three operations.
Left shift the second character 10001001 with 2 bits, gives us 00100100.
Right shift the third character 10101110 with 6 (comes from 8 - 2) bits, gives us 00000010.
Add these two characters gives us the first character in your return string, gives 00100110.
Loop this routine for n / 8 rounds. And if n % 8 is not 0, extract that many bits from the next character, you can do it in many approaches.
So in this example, our second round will give us 10111001, and the last step we get 10, then pad the rest bits with 0s.
I am trying to perform this operation, and im getting the wrong output.
signed char temp3[3] = {0x0D, 0xFF, 0xC0};
double temp = ((temp3[0] & 0x03) << 10) | (temp3[1]) | ((temp3[2] & 0xC0) >> 6)
I am trying to form a 12 bit number. get the last 2 bits of 0x0D, all 8 of 0xFF and first 2 of 0xC0 to form the binary number (011111111111) = 2047, however I am getting -1. When I break the first mask and shift of 10, I get 0. I dont know if this is my problem, trying to shift an 8 bit character 10 bits.
When bit twiddling, always use unsigned numbers.
Change the array to unsigned char.
Add the 'U' suffix to each constant, because each constant is a signed integer by default.
BTW, right shifting is undefined implementation defined for signed integers.
Per comments, changed "undefined" to "implementation defined".
There are a few things you need to address.
First up, c++ doesn't have 12 bit numbers. The best you can have are 16 bit. The top bit represents sign in twos complement form.
You also need to be very careful shift of the type of the number you are shifting. In your example, you are left shifting a char by over 8 bits. As a char is only 8 bits, you are zeroing it.
The following example gives a correct implmentation (for signed 12 bit numbers). There are no doubt more efficient ones.
// shift in top 2 bits
signed short test = static_cast<signed short>(temp3[0] & 0x03) << 10 ;
// shift in middle 8 bits
test |= (static_cast<signed short>(temp3[1]) << 2) & 0x03FC;
// rightshift, mask and append lower 2 bits
test |= (static_cast<signed short>(temp3[2]) >> 6) & 0x0003;
// sign extend top bits from 12 bits to 16 bits
test |= (temp3[0] & 0x02) == 0 ? 0x0000 : 0xF0000;