kopia lustrzana https://github.com/espressif/esp-idf
feat(hal_utils): added float to fixed point function
laokaiyao
rodzic
8760e6d2a7
commit
1933973f99
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@ -7,6 +7,14 @@
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#include "hal/hal_utils.h"
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#include "hal/assert.h"
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#ifndef BIT
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#define BIT(n) (1UL << (n))
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#endif
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#ifndef BIT_MASK
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#define BIT_MASK(n) (BIT(n) - 1)
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#endif
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__attribute__((always_inline))
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static inline uint32_t _sub_abs(uint32_t a, uint32_t b)
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{
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@ -131,3 +139,56 @@ uint32_t hal_utils_calc_clk_div_integer(const hal_utils_clk_info_t *clk_info, ui
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// Return the actual frequency
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return clk_info->src_freq_hz / div_integ;
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}
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typedef union {
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struct {
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uint32_t mantissa: 23;
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uint32_t exponent: 8;
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uint32_t sign: 1;
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};
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uint32_t val;
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} hal_utils_ieee754_float_t;
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int hal_utils_float_to_fixed_point_32b(float flt, const hal_utils_fixed_point_t *fp_cfg, uint32_t *fp_out)
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{
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int ret = 0;
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uint32_t output = 0;
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const hal_utils_ieee754_float_t *f = (const hal_utils_ieee754_float_t *)&flt;
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if (fp_cfg->int_bit + fp_cfg->frac_bit > 31) {
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// Not supported
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return -3;
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}
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if (f->val == 0) { // Zero case
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*fp_out = 0;
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return 0;
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}
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if (f->exponent != 0xFF) { // Normal case
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int real_exp = (int)f->exponent - 127;
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uint32_t real_mant = f->mantissa | BIT(23); // Add the hidden bit
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// Overflow check
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if (real_exp >= (int)fp_cfg->int_bit) {
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ret = -1;
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}
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// Determine sign
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output |= f->sign << (fp_cfg->int_bit + fp_cfg->frac_bit);
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// Determine integer and fraction part
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int shift = 23 - fp_cfg->frac_bit - real_exp;
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output |= shift >= 0 ? real_mant >> shift : real_mant << -shift;
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} else {
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if (f->mantissa && f->mantissa < BIT(23) - 1) { // NaN (Not-a-Number) case
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return -2;
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} else { // Infinity or Largest Number case
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output = f->sign ? ~(uint32_t)0 : BIT(31) - 1;
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ret = -1;
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}
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}
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if (ret != 0 && fp_cfg->saturation) {
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*fp_out = (f->sign << (fp_cfg->int_bit + fp_cfg->frac_bit)) |
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(BIT_MASK(fp_cfg->int_bit + fp_cfg->frac_bit));
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} else {
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*fp_out = output;
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}
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return ret;
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}
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@ -7,6 +7,7 @@
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#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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@ -148,6 +149,38 @@ static inline uint32_t hal_utils_calc_lcm(uint32_t a, uint32_t b)
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return (a * b / hal_utils_gcd(a, b));
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}
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/**
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* @brief Fixed-point data configuration
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*
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*/
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typedef struct {
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uint32_t int_bit; /*!< Integer bit of the fixed point */
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uint32_t frac_bit; /*!< Fractional bit of the fixed point */
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bool saturation; /*!< Whether to limit the value to the maximum when fixed-point data overflow.
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* When set true, the value will be limited to the maximum when the float type data is out of range.
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* When set false, the function will return false when the float type data is out of range.
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*/
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} hal_utils_fixed_point_t;
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/**
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* @brief Convert the float type to fixed point type
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* @note The supported data format:
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* - [input] float (IEEE 754):
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* sign(1bit) + exponent(8bit) + mantissa(23bit) (32 bit in total)
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* - [output] fixed-point:
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* sign(1bit) + integer(int_bit) + fraction(frac_bit) (less or equal to 32 bit)
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*
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* @param[in] flt IEEE 754 float type data
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* @param[in] fp_cfg Fixed-point data configuration
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* @param[out] fp_out The output fixed-point data
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* @return
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* 0: Success
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* -1: Fixed point data overflow, `fp_out` will still be assigned
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* -2: Float is NaN
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* -3: Invalid configuration
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*/
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int hal_utils_float_to_fixed_point_32b(float flt, const hal_utils_fixed_point_t *fp_cfg, uint32_t *fp_out);
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#ifdef __cplusplus
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}
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#endif
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@ -1,4 +1,5 @@
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idf_component_register(SRCS "test_app_main.c"
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"test_fmt_convert.c"
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"test_calc_clk_div.c"
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"test_hal_utils_misc.c"
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INCLUDE_DIRS "."
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@ -0,0 +1,94 @@
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/*
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* SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include <math.h>
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#include "unity.h"
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#include "hal/hal_utils.h"
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#ifndef BIT
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#define BIT(n) (1UL << (n))
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#endif
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TEST_CASE("test_float_to_fixed_point", "[fmt_convert]")
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{
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float f_nan = NAN;
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float f_inf = INFINITY;
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float f0 = 100.9f;
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float f_zero = 0;
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float f_precise = 0.5f;
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float f_int = 2.0f;
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float f_frac = 1.0f / 3.0f;
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float f_dec = 1.453f;
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float f_neg = -1.25f;
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uint32_t out = 0;
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hal_utils_fixed_point_t fp_cfg = {
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.int_bit = 24,
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.frac_bit = 8,
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.saturation = false,
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};
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// Invalid arguments case
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TEST_ASSERT_EQUAL_INT(-3, hal_utils_float_to_fixed_point_32b(f_dec, &fp_cfg, &out));
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printf("Invalid arguments case passed!\n");
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fp_cfg.int_bit = 2;
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// Overflow case
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TEST_ASSERT_EQUAL_INT(-1, hal_utils_float_to_fixed_point_32b(f0, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(0x64E6, out); // integ: 0x64 = 100, frac: 0xE6 / 0x100 = 0.8984375
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printf("Overflow case passed!\n");
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// Not-a-Number case
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TEST_ASSERT_EQUAL_INT(-2, hal_utils_float_to_fixed_point_32b(f_nan, &fp_cfg, &out));
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printf("Not-a-Number case passed!\n");
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// Infinity case
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TEST_ASSERT_EQUAL_INT(-1, hal_utils_float_to_fixed_point_32b(f_inf, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(BIT(31) - 1, out);
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printf("Infinity case passed!\n");
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fp_cfg.saturation = true;
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// Limit overflow case
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TEST_ASSERT_EQUAL_INT(-1, hal_utils_float_to_fixed_point_32b(f0, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(BIT(10) - 1, out); // Limit to the maximum value, integ: 0x03 = 3 | frac: 0xff / 0x100 = 0.99609375
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printf("Limit overflow case passed!\n");
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// Zero case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f_zero, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(0, out); // Special case, 0 = 0
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printf("Zero case passed!\n");
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// Precision case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f_precise, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(BIT(7), out); // frac: 0x80 / 0x100 = 0.5
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printf("Precision case passed!\n");
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// Integer case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f_int, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(BIT(9), out); // integ: 2 | frac: 0x00 / 0x100 = 0
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printf("Integer case passed!\n");
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// Fraction case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f_frac, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(0x055, out); // 0x55 / 0x100 = 0.33203125
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printf("Fraction case passed!\n");
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// Decimal case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f_dec, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(0x173, out); // integ: 0x01 = 1, frac: 0x73 / 0x100 = 0.44921875
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printf("Decimal case passed!\n");
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// Negative case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f_neg, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(BIT(10) | BIT(8) | (BIT(6)), out); // sign: 1 | integ: 1 | frac: 0x40 / 0x100 = 0.25
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printf("Negative case passed!\n");
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fp_cfg.int_bit = 8;
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// Integer bits case
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TEST_ASSERT_EQUAL_INT(0, hal_utils_float_to_fixed_point_32b(f0, &fp_cfg, &out));
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TEST_ASSERT_EQUAL_UINT32(0x64E6, out); // integ: 0x64 = 100, frac: 0xE6 / 0x100 = 0.8984375
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printf("Integer bits case passed!\n");
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}
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