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author | px4dev <px4@purgatory.org> | 2013-01-06 12:52:05 -0800 |
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committer | px4dev <px4@purgatory.org> | 2013-01-06 12:52:05 -0800 |
commit | 4447282260be0780eb6e36f5e953bf56888a5688 (patch) | |
tree | 3ba1e976d998d433397343b79a0612af52075aef /apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c | |
parent | 659543f852d18197f68fafee5db5671567b74f4b (diff) | |
download | px4-firmware-4447282260be0780eb6e36f5e953bf56888a5688.tar.gz px4-firmware-4447282260be0780eb6e36f5e953bf56888a5688.tar.bz2 px4-firmware-4447282260be0780eb6e36f5e953bf56888a5688.zip |
Integrate the interesting parts of the CMSIS 3.01 (r3p1) DSP library
Diffstat (limited to 'apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c')
-rw-r--r-- | apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c | 292 |
1 files changed, 292 insertions, 0 deletions
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c new file mode 100644 index 000000000..eb7652204 --- /dev/null +++ b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c @@ -0,0 +1,292 @@ +/* ----------------------------------------------------------------------
+* Copyright (C) 2010 ARM Limited. All rights reserved.
+*
+* $Date: 15. February 2012
+* $Revision: V1.1.0
+*
+* Project: CMSIS DSP Library
+* Title: arm_mat_mult_q31.c
+*
+* Description: Q31 matrix multiplication.
+*
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*
+* Version 1.1.0 2012/02/15
+* Updated with more optimizations, bug fixes and minor API changes.
+*
+* Version 1.0.10 2011/7/15
+* Big Endian support added and Merged M0 and M3/M4 Source code.
+*
+* Version 1.0.3 2010/11/29
+* Re-organized the CMSIS folders and updated documentation.
+*
+* Version 1.0.2 2010/11/11
+* Documentation updated.
+*
+* Version 1.0.1 2010/10/05
+* Production release and review comments incorporated.
+*
+* Version 1.0.0 2010/09/20
+* Production release and review comments incorporated.
+*
+* Version 0.0.5 2010/04/26
+* incorporated review comments and updated with latest CMSIS layer
+*
+* Version 0.0.3 2010/03/10
+* Initial version
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**
+ * @ingroup groupMatrix
+ */
+
+/**
+ * @addtogroup MatrixMult
+ * @{
+ */
+
+/**
+ * @brief Q31 matrix multiplication
+ * @param[in] *pSrcA points to the first input matrix structure
+ * @param[in] *pSrcB points to the second input matrix structure
+ * @param[out] *pDst points to output matrix structure
+ * @return The function returns either
+ * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.
+ *
+ * @details
+ * <b>Scaling and Overflow Behavior:</b>
+ *
+ * \par
+ * The function is implemented using an internal 64-bit accumulator.
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate
+ * multiplication results but provides only a single guard bit. There is no saturation
+ * on intermediate additions. Thus, if the accumulator overflows it wraps around and
+ * distorts the result. The input signals should be scaled down to avoid intermediate
+ * overflows. The input is thus scaled down by log2(numColsA) bits
+ * to avoid overflows, as a total of numColsA additions are performed internally.
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
+ *
+ * \par
+ * See <code>arm_mat_mult_fast_q31()</code> for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.
+ *
+ */
+
+arm_status arm_mat_mult_q31(
+ const arm_matrix_instance_q31 * pSrcA,
+ const arm_matrix_instance_q31 * pSrcB,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pIn1 = pSrcA->pData; /* input data matrix pointer A */
+ q31_t *pIn2 = pSrcB->pData; /* input data matrix pointer B */
+ q31_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ q31_t *pOut = pDst->pData; /* output data matrix pointer */
+ q31_t *px; /* Temporary output data matrix pointer */
+ q63_t sum; /* Accumulator */
+ uint16_t numRowsA = pSrcA->numRows; /* number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* number of columns of input matrix A */
+
+#ifndef ARM_MATH_CM0
+
+ /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+ uint16_t col, i = 0u, j, row = numRowsA, colCnt; /* loop counters */
+ arm_status status; /* status of matrix multiplication */
+ q31_t a0, a1, a2, a3, b0, b1, b2, b3;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+ /* Check for matrix mismatch condition */
+ if((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + i;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0u;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Initiate the pointer pIn1 to point to the starting address of pInA */
+ pIn1 = pInA;
+
+ /* Apply loop unrolling and compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2;
+
+
+ /* matrix multiplication */
+ while(colCnt > 0u)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+ /* Perform the multiply-accumulates */
+ b0 = *pIn2;
+ pIn2 += numColsB;
+
+ a0 = *pIn1++;
+ a1 = *pIn1++;
+
+ b1 = *pIn2;
+ pIn2 += numColsB;
+ b2 = *pIn2;
+ pIn2 += numColsB;
+
+ sum += (q63_t) a0 *b0;
+ sum += (q63_t) a1 *b1;
+
+ a2 = *pIn1++;
+ a3 = *pIn1++;
+
+ b3 = *pIn2;
+ pIn2 += numColsB;
+
+ sum += (q63_t) a2 *b2;
+ sum += (q63_t) a3 *b3;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA % 0x4u;
+
+ while(colCnt > 0u)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+ /* Perform the multiply-accumulates */
+ sum += (q63_t) * pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
+ *px++ = (q31_t) (sum >> 31);
+
+ /* Update the pointer pIn2 to point to the starting address of the next column */
+ j++;
+ pIn2 = (pSrcB->pData) + j;
+
+ /* Decrement the column loop counter */
+ col--;
+
+ } while(col > 0u);
+
+#else
+
+ /* Run the below code for Cortex-M0 */
+
+ q31_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ uint16_t col, i = 0u, row = numRowsA, colCnt; /* loop counters */
+ arm_status status; /* status of matrix multiplication */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + i;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Initiate the pointer pIn1 to point to the starting address of pInA */
+ pIn1 = pInA;
+
+ /* Matrix A columns number of MAC operations are to be performed */
+ colCnt = numColsA;
+
+ /* matrix multiplication */
+ while(colCnt > 0u)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+ /* Perform the multiply-accumulates */
+ sum += (q63_t) * pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
+ *px++ = (q31_t) (sum >> 31);
+
+ /* Decrement the column loop counter */
+ col--;
+
+ /* Update the pointer pIn2 to point to the starting address of the next column */
+ pIn2 = pInB + (numColsB - col);
+
+ } while(col > 0u);
+
+#endif
+
+ /* Update the pointer pInA to point to the starting address of the next row */
+ i = i + numColsB;
+ pInA = pInA + numColsA;
+
+ /* Decrement the row loop counter */
+ row--;
+
+ } while(row > 0u);
+
+ /* set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+ /* Return to application */
+ return (status);
+}
+
+/**
+ * @} end of MatrixMult group
+ */
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