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AP_Math: add get_twos_complement() from betaflight

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This commit is contained in:
Andy Piper 2025-02-24 15:22:33 +00:00
parent 1b9b24e347
commit fba40313ce
2 changed files with 18 additions and 0 deletions
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12
libraries/AP_Math/AP_Math.cpp
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@ -566,3 +566,15 @@ double uint64_to_double_le(const uint64_t& value)
memcpy(&out, &value, sizeof(out));
return out;
}
/*
get a twos-complement value from the first 'length' bits of a uint32_t
With thanks to betaflight
*/
int32_t get_twos_complement(uint32_t raw, uint8_t length)
{
if (raw & ((int)1 << (length - 1))) {
return ((int32_t)raw) - ((int32_t)1 << length);
}
return raw;
}

6
libraries/AP_Math/AP_Math.h
View File

@ -396,3 +396,9 @@ float int32_to_float_le(const uint32_t& value) WARN_IF_UNUSED;
Convert from uint64_t to double without breaking Wstrict-aliasing due to type punning
*/
double uint64_to_double_le(const uint64_t& value) WARN_IF_UNUSED;
/*
get a twos-complement value from the first 'length' bits of a uint32_t
With thanks to betaflight
*/
int32_t get_twos_complement(uint32_t raw, uint8_t length) WARN_IF_UNUSED;