Merge remote-tracking branch 'upstream/master' into new_state_machine

Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c

1 files changed, 388 insertions, 0 deletions

diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
new file mode 100644
index 000000000..624afa130
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
@@ -0,0 +1,388 @@
+/* ----------------------------------------------------------------------    

+* Copyright (C) 2010 ARM Limited. All rights reserved.    

+*    

+* $Date:        15. February 2012  

+* $Revision: 	V1.1.0  

+*    

+* Project: 	    CMSIS DSP Library    

+* Title:        arm_fir_q7.c    

+*    

+* Description:  Q7 FIR filter processing function.    

+*    

+* 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 groupFilters    

+ */

+

+/**    

+ * @addtogroup FIR    

+ * @{    

+ */

+

+/**    

+ * @param[in]   *S points to an instance of the Q7 FIR filter structure.    

+ * @param[in]   *pSrc points to the block of input data.    

+ * @param[out]  *pDst points to the block of output data.    

+ * @param[in]   blockSize number of samples to process per call.    

+ * @return 	none.    

+ *    

+ * <b>Scaling and Overflow Behavior:</b>    

+ * \par    

+ * The function is implemented using a 32-bit internal accumulator.    

+ * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.    

+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    

+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    

+ * The accumulator is converted to 18.7 format by discarding the low 7 bits.    

+ * Finally, the result is truncated to 1.7 format.    

+ */

+

+void arm_fir_q7(

+  const arm_fir_instance_q7 * S,

+  q7_t * pSrc,

+  q7_t * pDst,

+  uint32_t blockSize)

+{

+

+#ifndef ARM_MATH_CM0

+

+  /* Run the below code for Cortex-M4 and Cortex-M3 */

+

+  q7_t *pState = S->pState;                      /* State pointer */

+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */

+  q7_t *pStateCurnt;                             /* Points to the current sample of the state */

+  q7_t x0, x1, x2, x3;                           /* Temporary variables to hold state */

+  q7_t c0;                                       /* Temporary variable to hold coefficient value */

+  q7_t *px;                                      /* Temporary pointer for state */

+  q7_t *pb;                                      /* Temporary pointer for coefficient buffer */

+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */

+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */

+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */

+

+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */

+  /* pStateCurnt points to the location where the new input data should be written */

+  pStateCurnt = &(S->pState[(numTaps - 1u)]);

+

+  /* Apply loop unrolling and compute 4 output values simultaneously.    

+   * The variables acc0 ... acc3 hold output values that are being computed:    

+   *    

+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    

+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    

+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    

+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    

+   */

+  blkCnt = blockSize >> 2;

+

+  /* 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)

+  {

+    /* Copy four new input samples into the state buffer */

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set all accumulators to zero */

+    acc0 = 0;

+    acc1 = 0;

+    acc2 = 0;

+    acc3 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize coefficient pointer */

+    pb = pCoeffs;

+

+    /* Read the first three samples from the state buffer:    

+     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */

+    x0 = *(px++);

+    x1 = *(px++);

+    x2 = *(px++);

+

+    /* Loop unrolling.  Process 4 taps at a time. */

+    tapCnt = numTaps >> 2;

+    i = tapCnt;

+

+    while(i > 0u)

+    {

+      /* Read the b[numTaps] coefficient */

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-3] sample */

+      x3 = *(px++);

+

+      /* acc0 +=  b[numTaps] * x[n-numTaps] */

+      acc0 += ((q15_t) x0 * c0);

+

+      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */

+      acc1 += ((q15_t) x1 * c0);

+

+      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */

+      acc2 += ((q15_t) x2 * c0);

+

+      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */

+      acc3 += ((q15_t) x3 * c0);

+

+      /* Read the b[numTaps-1] coefficient */

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-4] sample */

+      x0 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q15_t) x1 * c0);

+      acc1 += ((q15_t) x2 * c0);

+      acc2 += ((q15_t) x3 * c0);

+      acc3 += ((q15_t) x0 * c0);

+

+      /* Read the b[numTaps-2] coefficient */

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-5] sample */

+      x1 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q15_t) x2 * c0);

+      acc1 += ((q15_t) x3 * c0);

+      acc2 += ((q15_t) x0 * c0);

+      acc3 += ((q15_t) x1 * c0);

+      /* Read the b[numTaps-3] coefficients */

+      c0 = *(pb++);

+

+      /* Read x[n-numTaps-6] sample */

+      x2 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q15_t) x3 * c0);

+      acc1 += ((q15_t) x0 * c0);

+      acc2 += ((q15_t) x1 * c0);

+      acc3 += ((q15_t) x2 * c0);

+      i--;

+    }

+

+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */

+

+    i = numTaps - (tapCnt * 4u);

+    while(i > 0u)

+    {

+      /* Read coefficients */

+      c0 = *(pb++);

+

+      /* Fetch 1 state variable */

+      x3 = *(px++);

+

+      /* Perform the multiply-accumulates */

+      acc0 += ((q15_t) x0 * c0);

+      acc1 += ((q15_t) x1 * c0);

+      acc2 += ((q15_t) x2 * c0);

+      acc3 += ((q15_t) x3 * c0);

+

+      /* Reuse the present sample states for next sample */

+      x0 = x1;

+      x1 = x2;

+      x2 = x3;

+

+      /* Decrement the loop counter */

+      i--;

+    }

+

+    /* Advance the state pointer by 4 to process the next group of 4 samples */

+    pState = pState + 4;

+

+    /* The results in the 4 accumulators are in 2.62 format.  Convert to 1.31    

+     ** Then store the 4 outputs in the destination buffer. */

+    acc0 = __SSAT((acc0 >> 7u), 8);

+    *pDst++ = acc0;

+    acc1 = __SSAT((acc1 >> 7u), 8);

+    *pDst++ = acc1;

+    acc2 = __SSAT((acc2 >> 7u), 8);

+    *pDst++ = acc2;

+    acc3 = __SSAT((acc3 >> 7u), 8);

+    *pDst++ = acc3;

+

+    /* Decrement the samples 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 % 4u;

+

+  while(blkCnt > 0u)

+  {

+    /* Copy one sample at a time into state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set the accumulator to zero */

+    acc0 = 0;

+

+    /* Initialize state pointer */

+    px = pState;

+

+    /* Initialize Coefficient pointer */

+    pb = (pCoeffs);

+

+    i = numTaps;

+

+    /* Perform the multiply-accumulates */

+    do

+    {

+      acc0 += (q15_t) * (px++) * (*(pb++));

+      i--;

+    } while(i > 0u);

+

+    /* The result is in 2.14 format.  Convert to 1.7    

+     ** Then store the output in the destination buffer. */

+    *pDst++ = __SSAT((acc0 >> 7u), 8);

+

+    /* Advance state pointer by 1 for the next sample */

+    pState = pState + 1;

+

+    /* Decrement the samples loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.    

+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    

+   ** This prepares the state buffer for the next function call. */

+

+  /* Points to the start of the state buffer */

+  pStateCurnt = S->pState;

+

+  tapCnt = (numTaps - 1u) >> 2u;

+

+  /* copy data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+  /* Calculate remaining number of copies */

+  tapCnt = (numTaps - 1u) % 0x4u;

+

+  /* Copy the remaining q31_t data */

+  while(tapCnt > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+

+    /* Decrement the loop counter */

+    tapCnt--;

+  }

+

+#else

+

+/* Run the below code for Cortex-M0 */

+

+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */

+  uint32_t i, blkCnt;                            /* Loop counters */

+  q7_t *pState = S->pState;                      /* State pointer */

+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */

+  q7_t *px, *pb;                                 /* Temporary pointers to state and coeff */

+  q31_t acc = 0;                                 /* Accumlator */

+  q7_t *pStateCurnt;                             /* Points to the current sample of the state */

+

+

+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */

+  /* pStateCurnt points to the location where the new input data should be written */

+  pStateCurnt = S->pState + (numTaps - 1u);

+

+  /* Initialize blkCnt with blockSize */

+  blkCnt = blockSize;

+

+  /* Perform filtering upto BlockSize - BlockSize%4  */

+  while(blkCnt > 0u)

+  {

+    /* Copy one sample at a time into state buffer */

+    *pStateCurnt++ = *pSrc++;

+

+    /* Set accumulator to zero */

+    acc = 0;

+

+    /* Initialize state pointer of type q7 */

+    px = pState;

+

+    /* Initialize coeff pointer of type q7 */

+    pb = pCoeffs;

+

+

+    i = numTaps;

+

+    while(i > 0u)

+    {

+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */

+      acc += (q15_t) * px++ * *pb++;

+      i--;

+    }

+

+    /* Store the 1.7 format filter output in destination buffer */

+    *pDst++ = (q7_t) __SSAT((acc >> 7), 8);

+

+    /* Advance the state pointer by 1 to process the next sample */

+    pState = pState + 1;

+

+    /* Decrement the loop counter */

+    blkCnt--;

+  }

+

+  /* Processing is complete.         

+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       

+   ** This prepares the state buffer for the next function call. */

+

+

+  /* Points to the start of the state buffer */

+  pStateCurnt = S->pState;

+

+

+  /* Copy numTaps number of values */

+  i = (numTaps - 1u);

+

+  /* Copy q7_t data */

+  while(i > 0u)

+  {

+    *pStateCurnt++ = *pState++;

+    i--;

+  }

+

+#endif /*   #ifndef ARM_MATH_CM0 */

+

+}

+

+/**    

+ * @} end of FIR group    

+ */