Scalar Definitions
The file ${IRIS_ROOT}/include/sigtypes.h defines some scalar data
typedefs that can be used across platforms. The data types are used by the
IRIS library routines for defining return values and routine arguments.
| Type | Mapped-to | Description |
|---|---|---|
| SINT1 | int8_t | Signed 8-bit integer |
| UINT1 | uint8_t | Unsigned 8-bit integer |
| SINT2 | int16_t | Signed 16-bit integer |
| UINT2 | uint16_t | Unsigned 16-bit integer |
| SINT4 | int32_t | Signed 32-bit integer |
| UINT4 | uint32_t | Unsigned 32-bit integer |
| FLT4 | float | Floating-point number |
| FLT8 | double | Double-precision floating-point number |
| BIN2 | uint16_t | 16-bit binary angle |
| BIN4 | uint32_t | 32-bit binary angle |
| MESSAGE | uint32_t | Encoded error value |
A binary angle is an efficient way to store an angle into an integer. In this format the MSB has weight 180°, the next bit means 90°, the next 45°, and so on.
You can convert an N-bit binary angle to degrees with:
Degrees = 360 * (Binary Angle) / 2NTo see C language examples of how to do these conversions, see src/libs/user/angle.c.