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master
libraries/AP_Common/float16.cpp
70 строк
1 KB
Peter Barker
AP_Common: add comment on top of float16 storage
27 авг 2024, 03:19
27 авг 2024, 03:19
1c15488
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#include "float16.h" /* float16 implementation Note that this is IEEE half-precision 16-bit float, *not* bfloat16 algorithm with thanks to libcanard: https://github.com/dronecan/libcanard */ float Float16_t::get(void) const { union FP32 { uint32_t u; float f; }; const union FP32 magic = { (254UL - 15UL) << 23U }; const union FP32 was_inf_nan = { (127UL + 16UL) << 23U }; union FP32 out; out.u = (v16 & 0x7FFFU) << 13U; out.f *= magic.f; if (out.f >= was_inf_nan.f) { out.u |= 255UL << 23U; } out.u |= (v16 & 0x8000UL) << 16U; return out.f; } void Float16_t::set(float value) { union FP32 { uint32_t u; float f; }; const union FP32 f32inf = { 255UL << 23U }; const union FP32 f16inf = { 31UL << 23U }; const union FP32 magic = { 15UL << 23U }; const uint32_t sign_mask = 0x80000000UL; const uint32_t round_mask = 0xFFFFF000UL; union FP32 in; in.f = value; uint32_t sign = in.u & sign_mask; in.u ^= sign; v16 = 0; if (in.u >= f32inf.u) { v16 = (in.u > f32inf.u) ? (uint16_t)0x7FFFU : (uint16_t)0x7C00U; } else { in.u &= round_mask; in.f *= magic.f; in.u -= round_mask; if (in.u > f16inf.u) { in.u = f16inf.u; } v16 = (uint16_t)(in.u >> 13U); } v16 |= (uint16_t)(sign >> 16U); }