Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
@@ -0,0 +1,51 @@
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cmake_minimum_required (VERSION 3.6)
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||||
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||||
project(CMSISDSPFastMath)
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|
||||
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file(GLOB SRC "./*_*.c")
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add_library(CMSISDSPFastMath STATIC)
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||||
include(interpol)
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||||
interpol(CMSISDSPFastMath)
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||||
if (CONFIGTABLE AND ALLFAST)
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target_compile_definitions(CMSISDSPFastMath PUBLIC ARM_ALL_FAST_TABLES)
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||||
endif()
|
||||
|
||||
if (NOT CONFIGTABLE OR ALLFAST OR ARM_COS_F32)
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target_sources(CMSISDSPFastMath PRIVATE arm_cos_f32.c)
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||||
endif()
|
||||
|
||||
if (NOT CONFIGTABLE OR ALLFAST OR ARM_COS_Q15)
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target_sources(CMSISDSPFastMath PRIVATE arm_cos_q15.c)
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||||
endif()
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||||
|
||||
if (NOT CONFIGTABLE OR ALLFAST OR ARM_COS_Q31)
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target_sources(CMSISDSPFastMath PRIVATE arm_cos_q31.c)
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endif()
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||||
|
||||
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_F32)
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||||
target_sources(CMSISDSPFastMath PRIVATE arm_sin_f32.c)
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||||
endif()
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||||
|
||||
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_Q15)
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||||
target_sources(CMSISDSPFastMath PRIVATE arm_sin_q15.c)
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||||
endif()
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||||
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||||
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_Q31)
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target_sources(CMSISDSPFastMath PRIVATE arm_sin_q31.c)
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endif()
|
||||
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||||
target_sources(CMSISDSPFastMath PRIVATE arm_sqrt_q15.c)
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||||
target_sources(CMSISDSPFastMath PRIVATE arm_sqrt_q31.c)
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||||
|
||||
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||||
configdsp(CMSISDSPFastMath ..)
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||||
### Includes
|
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target_include_directories(CMSISDSPFastMath PUBLIC "${DSP}/../../Include")
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||||
|
||||
|
||||
|
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@@ -0,0 +1,37 @@
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||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: FastMathFunctions.c
|
||||
* Description: Combination of all fast math function source files.
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.0.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_cos_f32.c"
|
||||
#include "arm_cos_q15.c"
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#include "arm_cos_q31.c"
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#include "arm_sin_f32.c"
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||||
#include "arm_sin_q15.c"
|
||||
#include "arm_sin_q31.c"
|
||||
#include "arm_sqrt_q15.c"
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||||
#include "arm_sqrt_q31.c"
|
||||
|
||||
@@ -0,0 +1,122 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_cos_f32.c
|
||||
* Description: Fast cosine calculation for floating-point values
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@defgroup cos Cosine
|
||||
|
||||
Computes the trigonometric cosine function using a combination of table lookup
|
||||
and linear interpolation. There are separate functions for
|
||||
Q15, Q31, and floating-point data types.
|
||||
The input to the floating-point version is in radians while the
|
||||
fixed-point Q15 and Q31 have a scaled input with the range
|
||||
[0 +0.9999] mapping to [0 2*pi). The fixed-point range is chosen so that a
|
||||
value of 2*pi wraps around to 0.
|
||||
|
||||
The implementation is based on table lookup using 256 values together with linear interpolation.
|
||||
The steps used are:
|
||||
-# Calculation of the nearest integer table index
|
||||
-# Compute the fractional portion (fract) of the table index.
|
||||
-# The final result equals <code>(1.0f-fract)*a + fract*b;</code>
|
||||
|
||||
where
|
||||
<pre>
|
||||
b = Table[index];
|
||||
c = Table[index+1];
|
||||
</pre>
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup cos
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric cosine function for floating-point data.
|
||||
@param[in] x input value in radians
|
||||
@return cos(x)
|
||||
*/
|
||||
|
||||
float32_t arm_cos_f32(
|
||||
float32_t x)
|
||||
{
|
||||
float32_t cosVal, fract, in; /* Temporary input, output variables */
|
||||
uint16_t index; /* Index variable */
|
||||
float32_t a, b; /* Two nearest output values */
|
||||
int32_t n;
|
||||
float32_t findex;
|
||||
|
||||
/* input x is in radians */
|
||||
/* Scale input to [0 1] range from [0 2*PI] , divide input by 2*pi, add 0.25 (pi/2) to read sine table */
|
||||
in = x * 0.159154943092f + 0.25f;
|
||||
|
||||
/* Calculation of floor value of input */
|
||||
n = (int32_t) in;
|
||||
|
||||
/* Make negative values towards -infinity */
|
||||
if (in < 0.0f)
|
||||
{
|
||||
n--;
|
||||
}
|
||||
|
||||
/* Map input value to [0 1] */
|
||||
in = in - (float32_t) n;
|
||||
|
||||
/* Calculation of index of the table */
|
||||
findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
|
||||
index = (uint16_t)findex;
|
||||
|
||||
/* when "in" is exactly 1, we need to rotate the index down to 0 */
|
||||
if (index >= FAST_MATH_TABLE_SIZE) {
|
||||
index = 0;
|
||||
findex -= (float32_t)FAST_MATH_TABLE_SIZE;
|
||||
}
|
||||
|
||||
/* fractional value calculation */
|
||||
fract = findex - (float32_t) index;
|
||||
|
||||
/* Read two nearest values of input value from the cos table */
|
||||
a = sinTable_f32[index];
|
||||
b = sinTable_f32[index+1];
|
||||
|
||||
/* Linear interpolation process */
|
||||
cosVal = (1.0f - fract) * a + fract * b;
|
||||
|
||||
/* Return output value */
|
||||
return (cosVal);
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of cos group
|
||||
*/
|
||||
@@ -0,0 +1,84 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_cos_q15.c
|
||||
* Description: Fast cosine calculation for Q15 values
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup cos
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric cosine function for Q15 data.
|
||||
@param[in] x Scaled input value in radians
|
||||
@return cos(x)
|
||||
|
||||
The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*PI).
|
||||
*/
|
||||
|
||||
q15_t arm_cos_q15(
|
||||
q15_t x)
|
||||
{
|
||||
q15_t cosVal; /* Temporary input, output variables */
|
||||
int32_t index; /* Index variable */
|
||||
q15_t a, b; /* Two nearest output values */
|
||||
q15_t fract; /* Temporary values for fractional values */
|
||||
|
||||
/* add 0.25 (pi/2) to read sine table */
|
||||
x = (uint16_t)x + 0x2000;
|
||||
if (x < 0)
|
||||
{ /* convert negative numbers to corresponding positive ones */
|
||||
x = (uint16_t)x + 0x8000;
|
||||
}
|
||||
|
||||
/* Calculate the nearest index */
|
||||
index = (uint32_t)x >> FAST_MATH_Q15_SHIFT;
|
||||
|
||||
/* Calculation of fractional value */
|
||||
fract = (x - (index << FAST_MATH_Q15_SHIFT)) << 9;
|
||||
|
||||
/* Read two nearest values of input value from the sin table */
|
||||
a = sinTable_q15[index];
|
||||
b = sinTable_q15[index+1];
|
||||
|
||||
/* Linear interpolation process */
|
||||
cosVal = (q31_t) (0x8000 - fract) * a >> 16;
|
||||
cosVal = (q15_t) ((((q31_t) cosVal << 16) + ((q31_t) fract * b)) >> 16);
|
||||
|
||||
/* Return output value */
|
||||
return (cosVal << 1);
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of cos group
|
||||
*/
|
||||
@@ -0,0 +1,84 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_cos_q31.c
|
||||
* Description: Fast cosine calculation for Q31 values
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup cos
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric cosine function for Q31 data.
|
||||
@param[in] x Scaled input value in radians
|
||||
@return cos(x)
|
||||
|
||||
The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*PI).
|
||||
*/
|
||||
|
||||
q31_t arm_cos_q31(
|
||||
q31_t x)
|
||||
{
|
||||
q31_t cosVal; /* Temporary input, output variables */
|
||||
int32_t index; /* Index variable */
|
||||
q31_t a, b; /* Two nearest output values */
|
||||
q31_t fract; /* Temporary values for fractional values */
|
||||
|
||||
/* add 0.25 (pi/2) to read sine table */
|
||||
x = (uint32_t)x + 0x20000000;
|
||||
if (x < 0)
|
||||
{ /* convert negative numbers to corresponding positive ones */
|
||||
x = (uint32_t)x + 0x80000000;
|
||||
}
|
||||
|
||||
/* Calculate the nearest index */
|
||||
index = (uint32_t)x >> FAST_MATH_Q31_SHIFT;
|
||||
|
||||
/* Calculation of fractional value */
|
||||
fract = (x - (index << FAST_MATH_Q31_SHIFT)) << 9;
|
||||
|
||||
/* Read two nearest values of input value from the sin table */
|
||||
a = sinTable_q31[index];
|
||||
b = sinTable_q31[index+1];
|
||||
|
||||
/* Linear interpolation process */
|
||||
cosVal = (q63_t) (0x80000000 - fract) * a >> 32;
|
||||
cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) fract * b)) >> 32);
|
||||
|
||||
/* Return output value */
|
||||
return (cosVal << 1);
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of cos group
|
||||
*/
|
||||
@@ -0,0 +1,122 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_sin_f32.c
|
||||
* Description: Fast sine calculation for floating-point values
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@defgroup sin Sine
|
||||
|
||||
Computes the trigonometric sine function using a combination of table lookup
|
||||
and linear interpolation. There are separate functions for
|
||||
Q15, Q31, and floating-point data types.
|
||||
The input to the floating-point version is in radians while the
|
||||
fixed-point Q15 and Q31 have a scaled input with the range
|
||||
[0 +0.9999] mapping to [0 2*pi). The fixed-point range is chosen so that a
|
||||
value of 2*pi wraps around to 0.
|
||||
|
||||
The implementation is based on table lookup using 256 values together with linear interpolation.
|
||||
The steps used are:
|
||||
-# Calculation of the nearest integer table index
|
||||
-# Compute the fractional portion (fract) of the table index.
|
||||
-# The final result equals <code>(1.0f-fract)*a + fract*b;</code>
|
||||
|
||||
where
|
||||
<pre>
|
||||
b = Table[index];
|
||||
c = Table[index+1];
|
||||
</pre>
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup sin
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric sine function for floating-point data.
|
||||
@param[in] x input value in radians.
|
||||
@return sin(x)
|
||||
*/
|
||||
|
||||
float32_t arm_sin_f32(
|
||||
float32_t x)
|
||||
{
|
||||
float32_t sinVal, fract, in; /* Temporary input, output variables */
|
||||
uint16_t index; /* Index variable */
|
||||
float32_t a, b; /* Two nearest output values */
|
||||
int32_t n;
|
||||
float32_t findex;
|
||||
|
||||
/* input x is in radians */
|
||||
/* Scale input to [0 1] range from [0 2*PI] , divide input by 2*pi */
|
||||
in = x * 0.159154943092f;
|
||||
|
||||
/* Calculation of floor value of input */
|
||||
n = (int32_t) in;
|
||||
|
||||
/* Make negative values towards -infinity */
|
||||
if (in < 0.0f)
|
||||
{
|
||||
n--;
|
||||
}
|
||||
|
||||
/* Map input value to [0 1] */
|
||||
in = in - (float32_t) n;
|
||||
|
||||
/* Calculation of index of the table */
|
||||
findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
|
||||
index = (uint16_t)findex;
|
||||
|
||||
/* when "in" is exactly 1, we need to rotate the index down to 0 */
|
||||
if (index >= FAST_MATH_TABLE_SIZE) {
|
||||
index = 0;
|
||||
findex -= (float32_t)FAST_MATH_TABLE_SIZE;
|
||||
}
|
||||
|
||||
/* fractional value calculation */
|
||||
fract = findex - (float32_t) index;
|
||||
|
||||
/* Read two nearest values of input value from the sin table */
|
||||
a = sinTable_f32[index];
|
||||
b = sinTable_f32[index+1];
|
||||
|
||||
/* Linear interpolation process */
|
||||
sinVal = (1.0f - fract) * a + fract * b;
|
||||
|
||||
/* Return output value */
|
||||
return (sinVal);
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of sin group
|
||||
*/
|
||||
@@ -0,0 +1,77 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_sin_q15.c
|
||||
* Description: Fast sine calculation for Q15 values
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup sin
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric sine function for Q15 data.
|
||||
@param[in] x Scaled input value in radians
|
||||
@return sin(x)
|
||||
|
||||
The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*PI).
|
||||
*/
|
||||
|
||||
q15_t arm_sin_q15(
|
||||
q15_t x)
|
||||
{
|
||||
q15_t sinVal; /* Temporary input, output variables */
|
||||
int32_t index; /* Index variable */
|
||||
q15_t a, b; /* Two nearest output values */
|
||||
q15_t fract; /* Temporary values for fractional values */
|
||||
|
||||
/* Calculate the nearest index */
|
||||
index = (uint32_t)x >> FAST_MATH_Q15_SHIFT;
|
||||
|
||||
/* Calculation of fractional value */
|
||||
fract = (x - (index << FAST_MATH_Q15_SHIFT)) << 9;
|
||||
|
||||
/* Read two nearest values of input value from the sin table */
|
||||
a = sinTable_q15[index];
|
||||
b = sinTable_q15[index+1];
|
||||
|
||||
/* Linear interpolation process */
|
||||
sinVal = (q31_t) (0x8000 - fract) * a >> 16;
|
||||
sinVal = (q15_t) ((((q31_t) sinVal << 16) + ((q31_t) fract * b)) >> 16);
|
||||
|
||||
/* Return output value */
|
||||
return (sinVal << 1);
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of sin group
|
||||
*/
|
||||
@@ -0,0 +1,77 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_sin_q31.c
|
||||
* Description: Fast sine calculation for Q31 values
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup sin
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric sine function for Q31 data.
|
||||
@param[in] x Scaled input value in radians
|
||||
@return sin(x)
|
||||
|
||||
The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*PI).
|
||||
*/
|
||||
|
||||
q31_t arm_sin_q31(
|
||||
q31_t x)
|
||||
{
|
||||
q31_t sinVal; /* Temporary variables for input, output */
|
||||
int32_t index; /* Index variable */
|
||||
q31_t a, b; /* Two nearest output values */
|
||||
q31_t fract; /* Temporary values for fractional values */
|
||||
|
||||
/* Calculate the nearest index */
|
||||
index = (uint32_t)x >> FAST_MATH_Q31_SHIFT;
|
||||
|
||||
/* Calculation of fractional value */
|
||||
fract = (x - (index << FAST_MATH_Q31_SHIFT)) << 9;
|
||||
|
||||
/* Read two nearest values of input value from the sin table */
|
||||
a = sinTable_q31[index];
|
||||
b = sinTable_q31[index+1];
|
||||
|
||||
/* Linear interpolation process */
|
||||
sinVal = (q63_t) (0x80000000 - fract) * a >> 32;
|
||||
sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) fract * b)) >> 32);
|
||||
|
||||
/* Return output value */
|
||||
return (sinVal << 1);
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of sin group
|
||||
*/
|
||||
@@ -0,0 +1,144 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_sqrt_q15.c
|
||||
* Description: Q15 square root function
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup SQRT
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Q15 square root function.
|
||||
@param[in] in input value. The range of the input value is [0 +1) or 0x0000 to 0x7FFF
|
||||
@param[out] pOut points to square root of input value
|
||||
@return execution status
|
||||
- \ref ARM_MATH_SUCCESS : input value is positive
|
||||
- \ref ARM_MATH_ARGUMENT_ERROR : input value is negative; *pOut is set to 0
|
||||
*/
|
||||
|
||||
arm_status arm_sqrt_q15(
|
||||
q15_t in,
|
||||
q15_t * pOut)
|
||||
{
|
||||
q31_t bits_val1;
|
||||
q15_t number, temp1, var1, signBits1, half;
|
||||
float32_t temp_float1;
|
||||
union
|
||||
{
|
||||
q31_t fracval;
|
||||
float32_t floatval;
|
||||
} tempconv;
|
||||
|
||||
number = in;
|
||||
|
||||
/* If the input is a positive number then compute the signBits. */
|
||||
if (number > 0)
|
||||
{
|
||||
signBits1 = __CLZ(number) - 17;
|
||||
|
||||
/* Shift by the number of signBits1 */
|
||||
if ((signBits1 % 2) == 0)
|
||||
{
|
||||
number = number << signBits1;
|
||||
}
|
||||
else
|
||||
{
|
||||
number = number << (signBits1 - 1);
|
||||
}
|
||||
|
||||
/* Calculate half value of the number */
|
||||
half = number >> 1;
|
||||
/* Store the number for later use */
|
||||
temp1 = number;
|
||||
|
||||
/* Convert to float */
|
||||
temp_float1 = number * 3.051757812500000e-005f;
|
||||
/* Store as integer */
|
||||
tempconv.floatval = temp_float1;
|
||||
bits_val1 = tempconv.fracval;
|
||||
/* Subtract the shifted value from the magic number to give intial guess */
|
||||
bits_val1 = 0x5f3759df - (bits_val1 >> 1); /* gives initial guess */
|
||||
/* Store as float */
|
||||
tempconv.fracval = bits_val1;
|
||||
temp_float1 = tempconv.floatval;
|
||||
/* Convert to integer format */
|
||||
var1 = (q31_t) (temp_float1 * 16384);
|
||||
|
||||
/* 1st iteration */
|
||||
var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
|
||||
((q15_t)
|
||||
((((q15_t)
|
||||
(((q31_t) var1 * var1) >> 15)) *
|
||||
(q31_t) half) >> 15))) >> 15)) << 2;
|
||||
/* 2nd iteration */
|
||||
var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
|
||||
((q15_t)
|
||||
((((q15_t)
|
||||
(((q31_t) var1 * var1) >> 15)) *
|
||||
(q31_t) half) >> 15))) >> 15)) << 2;
|
||||
/* 3rd iteration */
|
||||
var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
|
||||
((q15_t)
|
||||
((((q15_t)
|
||||
(((q31_t) var1 * var1) >> 15)) *
|
||||
(q31_t) half) >> 15))) >> 15)) << 2;
|
||||
|
||||
/* Multiply the inverse square root with the original value */
|
||||
var1 = ((q15_t) (((q31_t) temp1 * var1) >> 15)) << 1;
|
||||
|
||||
/* Shift the output down accordingly */
|
||||
if ((signBits1 % 2) == 0)
|
||||
{
|
||||
var1 = var1 >> (signBits1 / 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
var1 = var1 >> ((signBits1 - 1) / 2);
|
||||
}
|
||||
*pOut = var1;
|
||||
|
||||
return (ARM_MATH_SUCCESS);
|
||||
}
|
||||
/* If the number is a negative number then store zero as its square root value */
|
||||
else
|
||||
{
|
||||
*pOut = 0;
|
||||
|
||||
return (ARM_MATH_ARGUMENT_ERROR);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of SQRT group
|
||||
*/
|
||||
@@ -0,0 +1,144 @@
|
||||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_sqrt_q31.c
|
||||
* Description: Q31 square root function
|
||||
*
|
||||
* $Date: 18. March 2019
|
||||
* $Revision: V1.6.0
|
||||
*
|
||||
* Target Processor: Cortex-M cores
|
||||
* -------------------------------------------------------------------- */
|
||||
/*
|
||||
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_common_tables.h"
|
||||
|
||||
/**
|
||||
@ingroup groupFastMath
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup SQRT
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Q31 square root function.
|
||||
@param[in] in input value. The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF
|
||||
@param[out] pOut points to square root of input value
|
||||
@return execution status
|
||||
- \ref ARM_MATH_SUCCESS : input value is positive
|
||||
- \ref ARM_MATH_ARGUMENT_ERROR : input value is negative; *pOut is set to 0
|
||||
*/
|
||||
|
||||
arm_status arm_sqrt_q31(
|
||||
q31_t in,
|
||||
q31_t * pOut)
|
||||
{
|
||||
q31_t bits_val1;
|
||||
q31_t number, temp1, var1, signBits1, half;
|
||||
float32_t temp_float1;
|
||||
union
|
||||
{
|
||||
q31_t fracval;
|
||||
float32_t floatval;
|
||||
} tempconv;
|
||||
|
||||
number = in;
|
||||
|
||||
/* If the input is a positive number then compute the signBits. */
|
||||
if (number > 0)
|
||||
{
|
||||
signBits1 = __CLZ(number) - 1;
|
||||
|
||||
/* Shift by the number of signBits1 */
|
||||
if ((signBits1 % 2) == 0)
|
||||
{
|
||||
number = number << signBits1;
|
||||
}
|
||||
else
|
||||
{
|
||||
number = number << (signBits1 - 1);
|
||||
}
|
||||
|
||||
/* Calculate half value of the number */
|
||||
half = number >> 1;
|
||||
/* Store the number for later use */
|
||||
temp1 = number;
|
||||
|
||||
/* Convert to float */
|
||||
temp_float1 = number * 4.6566128731e-010f;
|
||||
/* Store as integer */
|
||||
tempconv.floatval = temp_float1;
|
||||
bits_val1 = tempconv.fracval;
|
||||
/* Subtract the shifted value from the magic number to give intial guess */
|
||||
bits_val1 = 0x5f3759df - (bits_val1 >> 1); /* gives initial guess */
|
||||
/* Store as float */
|
||||
tempconv.fracval = bits_val1;
|
||||
temp_float1 = tempconv.floatval;
|
||||
/* Convert to integer format */
|
||||
var1 = (q31_t) (temp_float1 * 1073741824);
|
||||
|
||||
/* 1st iteration */
|
||||
var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
|
||||
((q31_t)
|
||||
((((q31_t)
|
||||
(((q63_t) var1 * var1) >> 31)) *
|
||||
(q63_t) half) >> 31))) >> 31)) << 2;
|
||||
/* 2nd iteration */
|
||||
var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
|
||||
((q31_t)
|
||||
((((q31_t)
|
||||
(((q63_t) var1 * var1) >> 31)) *
|
||||
(q63_t) half) >> 31))) >> 31)) << 2;
|
||||
/* 3rd iteration */
|
||||
var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
|
||||
((q31_t)
|
||||
((((q31_t)
|
||||
(((q63_t) var1 * var1) >> 31)) *
|
||||
(q63_t) half) >> 31))) >> 31)) << 2;
|
||||
|
||||
/* Multiply the inverse square root with the original value */
|
||||
var1 = ((q31_t) (((q63_t) temp1 * var1) >> 31)) << 1;
|
||||
|
||||
/* Shift the output down accordingly */
|
||||
if ((signBits1 % 2) == 0)
|
||||
{
|
||||
var1 = var1 >> (signBits1 / 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
var1 = var1 >> ((signBits1 - 1) / 2);
|
||||
}
|
||||
*pOut = var1;
|
||||
|
||||
return (ARM_MATH_SUCCESS);
|
||||
}
|
||||
/* If the number is a negative number then store zero as its square root value */
|
||||
else
|
||||
{
|
||||
*pOut = 0;
|
||||
|
||||
return (ARM_MATH_ARGUMENT_ERROR);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@} end of SQRT group
|
||||
*/
|
||||
Reference in New Issue
Block a user