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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
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165 changes: 165 additions & 0 deletions
165
Imu/Drivers/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
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| /* ---------------------------------------------------------------------- | ||
| * Copyright (C) 2010-2014 ARM Limited. All rights reserved. | ||
| * | ||
| * $Date: 19. March 2015 | ||
| * $Revision: V.1.4.5 | ||
| * | ||
| * Project: CMSIS DSP Library | ||
| * Title: arm_abs_f32.c | ||
| * | ||
| * Description: Vector absolute value. | ||
| * | ||
| * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * - Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * - Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * - Neither the name of ARM LIMITED nor the names of its contributors | ||
| * may be used to endorse or promote products derived from this | ||
| * software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * ---------------------------------------------------------------------------- */ | ||
|
|
||
| #include "arm_math.h" | ||
| #include <math.h> | ||
|
|
||
| /** | ||
| * @ingroup groupMath | ||
| */ | ||
|
|
||
| /** | ||
| * @defgroup BasicAbs Vector Absolute Value | ||
| * | ||
| * Computes the absolute value of a vector on an element-by-element basis. | ||
| * | ||
| * <pre> | ||
| * pDst[n] = abs(pSrc[n]), 0 <= n < blockSize. | ||
| * </pre> | ||
| * | ||
| * The functions support in-place computation allowing the source and | ||
| * destination pointers to reference the same memory buffer. | ||
| * There are separate functions for floating-point, Q7, Q15, and Q31 data types. | ||
| */ | ||
|
|
||
| /** | ||
| * @addtogroup BasicAbs | ||
| * @{ | ||
| */ | ||
|
|
||
| /** | ||
| * @brief Floating-point vector absolute value. | ||
| * @param[in] *pSrc points to the input buffer | ||
| * @param[out] *pDst points to the output buffer | ||
| * @param[in] blockSize number of samples in each vector | ||
| * @return none. | ||
| */ | ||
|
|
||
| void arm_abs_f32( | ||
| float32_t * pSrc, | ||
| float32_t * pDst, | ||
| uint32_t blockSize) | ||
| { | ||
| uint32_t blkCnt; /* loop counter */ | ||
|
|
||
| #ifndef ARM_MATH_CM0_FAMILY | ||
|
|
||
| /* Run the below code for Cortex-M4 and Cortex-M3 */ | ||
| float32_t in1, in2, in3, in4; /* temporary variables */ | ||
|
|
||
| /*loop Unrolling */ | ||
| blkCnt = blockSize >> 2u; | ||
|
|
||
| /* First part of the processing with loop unrolling. Compute 4 outputs at a time. | ||
| ** a second loop below computes the remaining 1 to 3 samples. */ | ||
| while(blkCnt > 0u) | ||
| { | ||
| /* C = |A| */ | ||
| /* Calculate absolute and then store the results in the destination buffer. */ | ||
| /* read sample from source */ | ||
| in1 = *pSrc; | ||
| in2 = *(pSrc + 1); | ||
| in3 = *(pSrc + 2); | ||
|
|
||
| /* find absolute value */ | ||
| in1 = fabsf(in1); | ||
|
|
||
| /* read sample from source */ | ||
| in4 = *(pSrc + 3); | ||
|
|
||
| /* find absolute value */ | ||
| in2 = fabsf(in2); | ||
|
|
||
| /* read sample from source */ | ||
| *pDst = in1; | ||
|
|
||
| /* find absolute value */ | ||
| in3 = fabsf(in3); | ||
|
|
||
| /* find absolute value */ | ||
| in4 = fabsf(in4); | ||
|
|
||
| /* store result to destination */ | ||
| *(pDst + 1) = in2; | ||
|
|
||
| /* store result to destination */ | ||
| *(pDst + 2) = in3; | ||
|
|
||
| /* store result to destination */ | ||
| *(pDst + 3) = in4; | ||
|
|
||
|
|
||
| /* Update source pointer to process next sampels */ | ||
| pSrc += 4u; | ||
|
|
||
| /* Update destination pointer to process next sampels */ | ||
| pDst += 4u; | ||
|
|
||
| /* Decrement the loop counter */ | ||
| blkCnt--; | ||
| } | ||
|
|
||
| /* If the blockSize is not a multiple of 4, compute any remaining output samples here. | ||
| ** No loop unrolling is used. */ | ||
| blkCnt = blockSize % 0x4u; | ||
|
|
||
| #else | ||
|
|
||
| /* Run the below code for Cortex-M0 */ | ||
|
|
||
| /* Initialize blkCnt with number of samples */ | ||
| blkCnt = blockSize; | ||
|
|
||
| #endif /* #ifndef ARM_MATH_CM0_FAMILY */ | ||
|
|
||
| while(blkCnt > 0u) | ||
| { | ||
| /* C = |A| */ | ||
| /* Calculate absolute and then store the results in the destination buffer. */ | ||
| *pDst++ = fabsf(*pSrc++); | ||
|
|
||
| /* Decrement the loop counter */ | ||
| blkCnt--; | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * @} end of BasicAbs group | ||
| */ |
179 changes: 179 additions & 0 deletions
179
Imu/Drivers/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,179 @@ | ||
| /* ---------------------------------------------------------------------- | ||
| * Copyright (C) 2010-2014 ARM Limited. All rights reserved. | ||
| * | ||
| * $Date: 19. March 2015 | ||
| * $Revision: V.1.4.5 | ||
| * | ||
| * Project: CMSIS DSP Library | ||
| * Title: arm_abs_q15.c | ||
| * | ||
| * Description: Q15 vector absolute value. | ||
| * | ||
| * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * - Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * - Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * - Neither the name of ARM LIMITED nor the names of its contributors | ||
| * may be used to endorse or promote products derived from this | ||
| * software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * -------------------------------------------------------------------- */ | ||
|
|
||
| #include "arm_math.h" | ||
|
|
||
| /** | ||
| * @ingroup groupMath | ||
| */ | ||
|
|
||
| /** | ||
| * @addtogroup BasicAbs | ||
| * @{ | ||
| */ | ||
|
|
||
| /** | ||
| * @brief Q15 vector absolute value. | ||
| * @param[in] *pSrc points to the input buffer | ||
| * @param[out] *pDst points to the output buffer | ||
| * @param[in] blockSize number of samples in each vector | ||
| * @return none. | ||
| * | ||
| * <b>Scaling and Overflow Behavior:</b> | ||
| * \par | ||
| * The function uses saturating arithmetic. | ||
| * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. | ||
| */ | ||
|
|
||
| void arm_abs_q15( | ||
| q15_t * pSrc, | ||
| q15_t * pDst, | ||
| uint32_t blockSize) | ||
| { | ||
| uint32_t blkCnt; /* loop counter */ | ||
|
|
||
| #ifndef ARM_MATH_CM0_FAMILY | ||
| __SIMD32_TYPE *simd; | ||
|
|
||
| /* Run the below code for Cortex-M4 and Cortex-M3 */ | ||
|
|
||
| q15_t in1; /* Input value1 */ | ||
| q15_t in2; /* Input value2 */ | ||
|
|
||
|
|
||
| /*loop Unrolling */ | ||
| blkCnt = blockSize >> 2u; | ||
|
|
||
| /* First part of the processing with loop unrolling. Compute 4 outputs at a time. | ||
| ** a second loop below computes the remaining 1 to 3 samples. */ | ||
| simd = __SIMD32_CONST(pDst); | ||
| while(blkCnt > 0u) | ||
| { | ||
| /* C = |A| */ | ||
| /* Read two inputs */ | ||
| in1 = *pSrc++; | ||
| in2 = *pSrc++; | ||
|
|
||
|
|
||
| /* Store the Absolute result in the destination buffer by packing the two values, in a single cycle */ | ||
| #ifndef ARM_MATH_BIG_ENDIAN | ||
| *simd++ = | ||
| __PKHBT(((in1 > 0) ? in1 : (q15_t)__QSUB16(0, in1)), | ||
| ((in2 > 0) ? in2 : (q15_t)__QSUB16(0, in2)), 16); | ||
|
|
||
| #else | ||
|
|
||
|
|
||
| *simd++ = | ||
| __PKHBT(((in2 > 0) ? in2 : (q15_t)__QSUB16(0, in2)), | ||
| ((in1 > 0) ? in1 : (q15_t)__QSUB16(0, in1)), 16); | ||
|
|
||
| #endif /* #ifndef ARM_MATH_BIG_ENDIAN */ | ||
|
|
||
| in1 = *pSrc++; | ||
| in2 = *pSrc++; | ||
|
|
||
|
|
||
| #ifndef ARM_MATH_BIG_ENDIAN | ||
|
|
||
| *simd++ = | ||
| __PKHBT(((in1 > 0) ? in1 : (q15_t)__QSUB16(0, in1)), | ||
| ((in2 > 0) ? in2 : (q15_t)__QSUB16(0, in2)), 16); | ||
|
|
||
| #else | ||
|
|
||
|
|
||
| *simd++ = | ||
| __PKHBT(((in2 > 0) ? in2 : (q15_t)__QSUB16(0, in2)), | ||
| ((in1 > 0) ? in1 : (q15_t)__QSUB16(0, in1)), 16); | ||
|
|
||
| #endif /* #ifndef ARM_MATH_BIG_ENDIAN */ | ||
|
|
||
| /* Decrement the loop counter */ | ||
| blkCnt--; | ||
| } | ||
| pDst = (q15_t *)simd; | ||
|
|
||
| /* If the blockSize is not a multiple of 4, compute any remaining output samples here. | ||
| ** No loop unrolling is used. */ | ||
| blkCnt = blockSize % 0x4u; | ||
|
|
||
| while(blkCnt > 0u) | ||
| { | ||
| /* C = |A| */ | ||
| /* Read the input */ | ||
| in1 = *pSrc++; | ||
|
|
||
| /* Calculate absolute value of input and then store the result in the destination buffer. */ | ||
| *pDst++ = (in1 > 0) ? in1 : (q15_t)__QSUB16(0, in1); | ||
|
|
||
| /* Decrement the loop counter */ | ||
| blkCnt--; | ||
| } | ||
|
|
||
| #else | ||
|
|
||
| /* Run the below code for Cortex-M0 */ | ||
|
|
||
| q15_t in; /* Temporary input variable */ | ||
|
|
||
| /* Initialize blkCnt with number of samples */ | ||
| blkCnt = blockSize; | ||
|
|
||
| while(blkCnt > 0u) | ||
| { | ||
| /* C = |A| */ | ||
| /* Read the input */ | ||
| in = *pSrc++; | ||
|
|
||
| /* Calculate absolute value of input and then store the result in the destination buffer. */ | ||
| *pDst++ = (in > 0) ? in : ((in == (q15_t) 0x8000) ? 0x7fff : -in); | ||
|
|
||
| /* Decrement the loop counter */ | ||
| blkCnt--; | ||
| } | ||
|
|
||
| #endif /* #ifndef ARM_MATH_CM0_FAMILY */ | ||
|
|
||
| } | ||
|
|
||
| /** | ||
| * @} end of BasicAbs group | ||
| */ |
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