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feat-hal-2 #4

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andis merged 35 commits from feat-hal-2 into develop 2024-07-31 16:15:36 +00:00
Conversation 1 Commits 35 Files Changed 150 +23 -1
2 changed files with 23 additions and 1 deletions
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20
firmware/src/utils/utils.cpp
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@@ -57,7 +57,6 @@ uint16_t util::sat_subtract(uint16_t x, uint16_t y)
if(z > x) return 0; if(z > x) return 0;
else return z; else return z;
} }
uint32_t util::sat_subtract(uint32_t x, uint32_t y) uint32_t util::sat_subtract(uint32_t x, uint32_t y)
{ {
uint32_t z = x - y; uint32_t z = x - y;
@@ -66,6 +65,25 @@ uint32_t util::sat_subtract(uint32_t x, uint32_t y)
else return z; else return z;
} }
uint8_t util::abs_subtract(uint8_t x, uint8_t y)
{
if(x > y) return x - y;
else return y-x;
}
uint16_t util::abs_subtract(uint16_t x, uint16_t y)
{
if(x > y) return x - y;
else return y-x;
}
uint32_t util::abs_subtract(uint32_t x, uint32_t y)
{
if(x > y) return x - y;
else return y-x;
}
uint16_t util::sat_cast(uint32_t x) uint16_t util::sat_cast(uint32_t x)
{ {
if(x > 0x0000FFFF) return 0xFFFF; if(x > 0x0000FFFF) return 0xFFFF;

4
firmware/src/utils/utils.h
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@@ -27,6 +27,10 @@ uint8_t sat_subtract(uint8_t x, uint8_t y);
uint16_t sat_subtract(uint16_t x, uint16_t y); uint16_t sat_subtract(uint16_t x, uint16_t y);
uint32_t sat_subtract(uint32_t x, uint32_t y); uint32_t sat_subtract(uint32_t x, uint32_t y);
uint8_t abs_subtract(uint8_t x, uint8_t y);
uint16_t abs_subtract(uint16_t x, uint16_t y);
uint32_t abs_subtract(uint32_t x, uint32_t y);
uint16_t interpolate_1d(uint16_t x, uint16_t* x_axis, uint16_t* y_values, uint8_t len_axis); uint16_t interpolate_1d(uint16_t x, uint16_t* x_axis, uint16_t* y_values, uint8_t len_axis);
uint16_t interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t len_x_axis, uint16_t* y_axis, uint8_t len_y_axis, uint16_t* z_values); uint16_t interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t len_x_axis, uint16_t* y_axis, uint8_t len_y_axis, uint16_t* z_values);