Camera_driver: refactored version of camera driver
This commit is contained in:
Petr Malanik
@ -0,0 +1,51 @@
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cmake_minimum_required (VERSION 3.6)
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project(CMSISDSPFastMath)
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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()
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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()
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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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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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configdsp(CMSISDSPFastMath ..)
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### Includes
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target_include_directories(CMSISDSPFastMath PUBLIC "${DSP}/../../Include")
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@ -0,0 +1,37 @@
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: FastMathFunctions.c
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* Description: Combination of all fast math function source files.
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*
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* $Date: 18. March 2019
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* $Revision: V1.0.0
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*
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* Target Processor: Cortex-M cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2019 ARM Limited or its affiliates. All rights reserved.
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||||
*
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* SPDX-License-Identifier: Apache-2.0
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||||
*
|
||||
* 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.
|
||||
*/
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|
||||
#include "arm_cos_f32.c"
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#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"
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#include "arm_sin_q31.c"
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#include "arm_sqrt_q15.c"
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#include "arm_sqrt_q31.c"
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@ -0,0 +1,122 @@
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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||||
* Title: arm_cos_f32.c
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* Description: Fast cosine calculation for floating-point values
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||||
*
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* $Date: 18. March 2019
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||||
* $Revision: V1.6.0
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*
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||||
* Target Processor: Cortex-M cores
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||||
* -------------------------------------------------------------------- */
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||||
/*
|
||||
* 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"
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#include "arm_common_tables.h"
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||||
/**
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||||
@ingroup groupFastMath
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||||
*/
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||||
|
||||
/**
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||||
@defgroup cos Cosine
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||||
|
||||
Computes the trigonometric cosine function using a combination of table lookup
|
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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
|
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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
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||||
-# Compute the fractional portion (fract) of the table index.
|
||||
-# The final result equals <code>(1.0f-fract)*a + fract*b;</code>
|
||||
|
||||
where
|
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<pre>
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b = Table[index];
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||||
c = Table[index+1];
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||||
</pre>
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||||
*/
|
||||
|
||||
/**
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||||
@addtogroup cos
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||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Fast approximation to the trigonometric cosine function for floating-point data.
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@param[in] x input value in radians
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@return cos(x)
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||||
*/
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||||
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float32_t arm_cos_f32(
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float32_t x)
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{
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float32_t cosVal, fract, in; /* Temporary input, output variables */
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uint16_t index; /* Index variable */
|
||||
float32_t a, b; /* Two nearest output values */
|
||||
int32_t n;
|
||||
float32_t findex;
|
||||
|
||||
/* input x is in radians */
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||||
/* Scale input to [0 1] range from [0 2*PI] , divide input by 2*pi, add 0.25 (pi/2) to read sine table */
|
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in = x * 0.159154943092f + 0.25f;
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||||
|
||||
/* Calculation of floor value of input */
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||||
n = (int32_t) in;
|
||||
|
||||
/* Make negative values towards -infinity */
|
||||
if (in < 0.0f)
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||||
{
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||||
n--;
|
||||
}
|
||||
|
||||
/* Map input value to [0 1] */
|
||||
in = in - (float32_t) n;
|
||||
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||||
/* 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) {
|
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index = 0;
|
||||
findex -= (float32_t)FAST_MATH_TABLE_SIZE;
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}
|
||||
|
||||
/* fractional value calculation */
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||||
fract = findex - (float32_t) index;
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||||
|
||||
/* Read two nearest values of input value from the cos table */
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a = sinTable_f32[index];
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||||
b = sinTable_f32[index+1];
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||||
|
||||
/* Linear interpolation process */
|
||||
cosVal = (1.0f - fract) * a + fract * b;
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||||
/* Return output value */
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||||
return (cosVal);
|
||||
}
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||||
|
||||
/**
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||||
@} end of cos group
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||||
*/
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||||
@ -0,0 +1,84 @@
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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"
|
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#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