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author | Julian Oes <julian@oes.ch> | 2013-05-17 11:24:02 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-05-17 11:24:02 +0200 |
commit | f5c157e74df12a0cb36b7d27cdad9828d96cc534 (patch) | |
tree | 3f758990921a7b52df8afe5131a8298b1141b6f4 /src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c | |
parent | 80e8eeab2931e79e31adb17c93f5794e666c5763 (diff) | |
parent | fa816d0fd65da461fd5bf8803cf00caebaf23c5c (diff) | |
download | px4-firmware-f5c157e74df12a0cb36b7d27cdad9828d96cc534.tar.gz px4-firmware-f5c157e74df12a0cb36b7d27cdad9828d96cc534.tar.bz2 px4-firmware-f5c157e74df12a0cb36b7d27cdad9828d96cc534.zip |
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
Diffstat (limited to 'src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c')
-rw-r--r-- | src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c | 203 |
1 files changed, 203 insertions, 0 deletions
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c new file mode 100644 index 000000000..3ab52b9ff --- /dev/null +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c @@ -0,0 +1,203 @@ +/* ----------------------------------------------------------------------------
+* Copyright (C) 2010 ARM Limited. All rights reserved.
+*
+* $Date: 15. February 2012
+* $Revision: V1.1.0
+*
+* Project: CMSIS DSP Library
+* Title: arm_float_to_q31.c
+*
+* Description: Converts the elements of the floating-point vector to Q31 vector.
+*
+* 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.
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**
+ * @ingroup groupSupport
+ */
+
+/**
+ * @defgroup float_to_x Convert 32-bit floating point value
+ */
+
+/**
+ * @addtogroup float_to_x
+ * @{
+ */
+
+/**
+ * @brief Converts the elements of the floating-point vector to Q31 vector.
+ * @param[in] *pSrc points to the floating-point input vector
+ * @param[out] *pDst points to the Q31 output vector
+ * @param[in] blockSize length of the input vector
+ * @return none.
+ *
+ *\par Description:
+ * \par
+ * The equation used for the conversion process is:
+ *
+ * <pre>
+ * pDst[n] = (q31_t)(pSrc[n] * 2147483648); 0 <= n < blockSize.
+ * </pre>
+ * <b>Scaling and Overflow Behavior:</b>
+ * \par
+ * The function uses saturating arithmetic.
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.
+ *
+ * \note In order to apply rounding, the library should be rebuilt with the ROUNDING macro
+ * defined in the preprocessor section of project options.
+ */
+
+
+void arm_float_to_q31(
+ float32_t * pSrc,
+ q31_t * pDst,
+ uint32_t blockSize)
+{
+ float32_t *pIn = pSrc; /* Src pointer */
+ uint32_t blkCnt; /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+ float32_t in;
+
+#endif /* #ifdef ARM_MATH_ROUNDING */
+
+#ifndef ARM_MATH_CM0
+
+ /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+ /*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)
+ {
+
+#ifdef ARM_MATH_ROUNDING
+
+ /* C = A * 32768 */
+ /* convert from float to Q31 and then store the results in the destination buffer */
+ in = *pIn++;
+ in = (in * 2147483648.0f);
+ in += in > 0 ? 0.5 : -0.5;
+ *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+ in = *pIn++;
+ in = (in * 2147483648.0f);
+ in += in > 0 ? 0.5 : -0.5;
+ *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+ in = *pIn++;
+ in = (in * 2147483648.0f);
+ in += in > 0 ? 0.5 : -0.5;
+ *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+ in = *pIn++;
+ in = (in * 2147483648.0f);
+ in += in > 0 ? 0.5 : -0.5;
+ *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+ /* C = A * 2147483648 */
+ /* convert from float to Q31 and then store the results in the destination buffer */
+ *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+ *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+ *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+ *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /* #ifdef ARM_MATH_ROUNDING */
+
+ /* 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;
+
+ while(blkCnt > 0u)
+ {
+
+#ifdef ARM_MATH_ROUNDING
+
+ /* C = A * 2147483648 */
+ /* convert from float to Q31 and then store the results in the destination buffer */
+ in = *pIn++;
+ in = (in * 2147483648.0f);
+ in += in > 0 ? 0.5 : -0.5;
+ *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+ /* C = A * 2147483648 */
+ /* convert from float to Q31 and then store the results in the destination buffer */
+ *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /* #ifdef ARM_MATH_ROUNDING */
+
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+
+#else
+
+ /* Run the below code for Cortex-M0 */
+
+ /* Loop over blockSize number of values */
+ blkCnt = blockSize;
+
+ while(blkCnt > 0u)
+ {
+
+#ifdef ARM_MATH_ROUNDING
+
+ /* C = A * 2147483648 */
+ /* convert from float to Q31 and then store the results in the destination buffer */
+ in = *pIn++;
+ in = (in * 2147483648.0f);
+ in += in > 0 ? 0.5f : -0.5f;
+ *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+ /* C = A * 2147483648 */
+ /* convert from float to Q31 and then store the results in the destination buffer */
+ *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /* #ifdef ARM_MATH_ROUNDING */
+
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**
+ * @} end of float_to_x group
+ */
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