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Camera_driver: initialize project and libraries

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This commit is contained in:
Petr Malanik
2022-08-15 18:21:50 +02:00
parent 4da5aefb5a
commit 34b9eaafc2
1280 changed files with 1099270 additions and 0 deletions
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51
resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/CMakeLists.txt Normal file
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cmake_minimum_required (VERSION 3.6)
project(CMSISDSPFastMath)
file(GLOB SRC "./*_*.c")
add_library(CMSISDSPFastMath STATIC)
include(interpol)
interpol(CMSISDSPFastMath)
if (CONFIGTABLE AND ALLFAST)
target_compile_definitions(CMSISDSPFastMath PUBLIC ARM_ALL_FAST_TABLES)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_COS_F32)
target_sources(CMSISDSPFastMath PRIVATE arm_cos_f32.c)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_COS_Q15)
target_sources(CMSISDSPFastMath PRIVATE arm_cos_q15.c)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_COS_Q31)
target_sources(CMSISDSPFastMath PRIVATE arm_cos_q31.c)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_F32)
target_sources(CMSISDSPFastMath PRIVATE arm_sin_f32.c)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_Q15)
target_sources(CMSISDSPFastMath PRIVATE arm_sin_q15.c)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_Q31)
target_sources(CMSISDSPFastMath PRIVATE arm_sin_q31.c)
endif()
target_sources(CMSISDSPFastMath PRIVATE arm_sqrt_q15.c)
target_sources(CMSISDSPFastMath PRIVATE arm_sqrt_q31.c)
configdsp(CMSISDSPFastMath ..)
### Includes
target_include_directories(CMSISDSPFastMath PUBLIC "${DSP}/../../Include")

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/FastMathFunctions.c Normal file
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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"
#include "arm_cos_q31.c"
#include "arm_sin_f32.c"
#include "arm_sin_q15.c"
#include "arm_sin_q31.c"
#include "arm_sqrt_q15.c"
#include "arm_sqrt_q31.c"

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_cos_f32.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_cos_q15.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_cos_q31.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_sin_f32.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_sin_q15.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_sin_q31.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_sqrt_q15.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/FastMathFunctions/arm_sqrt_q31.c Normal file
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/* ----------------------------------------------------------------------
* 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
*/